Akademik Veri Yönetim Sistemi
42nd IEEE Conference on Decision and Control, Maui, HI, Amerika Birleşik Devletleri, 9 - 12 Aralık 2003, cilt.2, ss.2041-2046
In this article we build on our earlier results in [1, 2] on swarm stability. In [1, 2] we had considered aggregating swarm model in n-dimensional space based on artificial potential functions for inter-individual interactions and motion along the negative gradient of the combined potential. Here 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 swarm considered in [ 1,2]. In this context, the results in [ 1,2] serve as a "proof of concept" for swarm aggregation, whereas the present results serve as possible implementation method for engineering swarms with given vehicle dynamics. Moreover, the presented control scheme is robust with respect to disturbances and system uncertainties.