Swarm tracking using artificial potentials and sliding mode control

Yao J., Ordonez R., Gazi V.

45th IEEE Conference on Decision and Control, California, Amerika Birleşik Devletleri, 13 - 15 Aralık 2006, ss.4670-4671 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/cdc.2006.377565
  • Basıldığı Şehir: California
  • Basıldığı Ülke: Amerika Birleşik Devletleri
  • Sayfa Sayıları: ss.4670-4671
  • Yıldız Teknik Üniversitesi Adresli: Hayır

Özet

In this paper, we present a stable and decentralized control strategy for multi-agent 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.