Swarm tracking using artificial potentials and sliding mode control

Yao J., Ordonez R., Gazi V.

45th IEEE Conference on Decision and Control, California, United States Of America, 13 - 15 December 2006, pp.4670-4671 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/cdc.2006.377565
  • City: California
  • Country: United States Of America
  • Page Numbers: pp.4670-4671
  • Yıldız Technical University Affiliated: No


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.