Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.11851/7569
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dc.contributor.authorGazi, Veysel-
dc.date.accessioned2021-09-11T15:57:55Z-
dc.date.available2021-09-11T15:57:55Z-
dc.date.issued2005en_US
dc.identifier.citation42nd IEEE Conference on Decision and Control -- DEC 09-12, 2003 -- Maui, HIen_US
dc.identifier.issn1552-3098-
dc.identifier.issn1941-0468-
dc.identifier.urihttps://doi.org/10.1109/TRO.2005.853487-
dc.identifier.urihttps://hdl.handle.net/20.500.11851/7569-
dc.description.abstractIn 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.en_US
dc.description.sponsorshipIEEE, SIAM, Control Syst Soc, SICE, Informs, Honeywell Lab, Natl Instruments, XEROX, MathWorksen_US
dc.language.isoenen_US
dc.publisherIEEE-Inst Electrical Electronics Engineers Incen_US
dc.relation.ispartofIEEE Transactions On Roboticsen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectformation controlen_US
dc.subjectmultiagent systemsen_US
dc.subjectpotential functionsen_US
dc.subjectsliding-mode controlen_US
dc.subjectswarmsen_US
dc.titleSwarm aggregations using artificial potentials and sliding-mode controlen_US
dc.typeConference Objecten_US
dc.departmentFaculties, Faculty of Engineering, Department of Electrical and Electronics Engineeringen_US
dc.departmentFakülteler, Mühendislik Fakültesi, Elektrik ve Elektronik Mühendisliği Bölümütr_TR
dc.identifier.volume21en_US
dc.identifier.issue6en_US
dc.identifier.startpage1208en_US
dc.identifier.endpage1214en_US
dc.authorid0000-0002-4383-9215-
dc.identifier.wosWOS:000234154100018en_US
dc.identifier.scopus2-s2.0-29844458701en_US
dc.institutionauthorGazi, Veysel-
dc.identifier.doi10.1109/TRO.2005.853487-
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.relation.conference42nd IEEE Conference on Decision and Controlen_US
dc.identifier.scopusqualityQ2-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.grantfulltextnone-
item.fulltextNo Fulltext-
item.openairetypeConference Object-
item.cerifentitytypePublications-
item.languageiso639-1en-
crisitem.author.dept02.5. Department of Electrical and Electronics Engineering-
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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