Aggregation in a swarm of non-holonomic agents using artificial potentials and sliding mode control

Gazi V., Koksal M. I., Fidan B.

2007 9th European Control Conference, ECC 2007, Kos, Greece, 2 - 05 July 2007, pp.1485-1491 identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.23919/ecc.2007.7068725
  • City: Kos
  • Country: Greece
  • Page Numbers: pp.1485-1491
  • Yıldız Technical University Affiliated: Yes


© 2007 EUCA.In this paper we consider the aggregation of swarms whose agents are moving in 2-dimensions with a non-holonomic agent dynamics. We approach this problem using artificial potentials and sliding mode control. The main contribution is the extension of the recent results in the literature based on a similar approach for simple integrator agent dynamics model to a significantly more realistic and more difficult setting with non-holonomic unicycle agent dynamics model. In particular, we design a continuous-time control scheme via a constructive analysis based on artificial potentials and sliding mode control techniques. The effectiveness of the proposed design for solving the swarm aggregation problem is demonstrated analytically as well as via a set of simulation results.