Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.11851/7570
Title: Swarm tracking using artificial potentials and sliding mode control [Article]
Authors: Yao, Jingyi
Ordonez, Raul
Gazi, Veysel
Keywords: [No Keywords]
Issue Date: 2007
Publisher: Asme
Abstract: In this paper, we present a stable and decentralized control strategy for multiagent systems (swarms) to capture a moving target in a specific formation. The coordination framework uses artificial potentials to take care, of both tracking and formation tasks. First, a basic controller is designed based on a kinematic model. After that, sliding mode control technique is used to force the agents with general vehicle dynamics to obey the required motion. Finally, specific potential functions are discussed and corresponding simulation results are given.
URI: https://doi.org/10.1115/1.2764511
https://hdl.handle.net/20.500.11851/7570
ISSN: 0022-0434
1528-9028
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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