Swarm tracking using artificial potentials and sliding mode control

Yao, Jingyi; Ordonez, Raul; GAZİ, VEYSEL

doi:10.1115/1.2764511

Swarm tracking using artificial potentials and sliding mode control

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, cilt.129, sa.5, ss.749-754, 2007 (SCI-Expanded)

Yayın Türü: Makale / Tam Makale
Cilt numarası: 129 Sayı: 5
Basım Tarihi: 2007
Doi Numarası: 10.1115/1.2764511
Dergi Adı: JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
Sayfa Sayıları: ss.749-754
Marmara Üniversitesi Adresli: Hayır

Özet

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.