Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.11851/7569
Title: Swarm aggregations using artificial potentials and sliding-mode control
Authors: Gazi, Veysel
Keywords: formation control
multiagent systems
potential functions
sliding-mode control
swarms
Issue Date: 2005
Publisher: IEEE-Inst Electrical Electronics Engineers Inc
Source: 42nd IEEE Conference on Decision and Control -- DEC 09-12, 2003 -- Maui, HI
Abstract: In this paper, we consider a control strategy of multiagent systems, or simply, swarms, based on artificial potential functions and the sliding-mode control technique. First, we briefly discuss a "kinematic" swarm model in n-dimensional space introduced in an earlier paper. In that model, the interindividual interactions are based on artificial potential functions, and the motion of the individuals is along the negative gradient of the combined potential. After that, we consider a general model for vehicle dynamics of each agent (swarm member), and use sliding-mode control theory to force their motion to obey the dynamics of the kinematic model. In this context, the results for the initial model serve as a "proof of concept" for multiagent coordination and control (swarm aggregation), whereas the present results serve as a possible implementation method for engineering swarms with given vehicle dynamics. The presented control scheme is robust with respect to disturbances and system uncertainties.
URI: https://doi.org/10.1109/TRO.2005.853487
https://hdl.handle.net/20.500.11851/7569
ISSN: 1552-3098
1941-0468
Appears in Collections:Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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