Swarm tracking using artificial potentials and sliding mode control


Yao J., Ordonez R., GAZİ V.

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, cilt.129, ss.749-754, 2007 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 129 Konu: 5
  • Basım Tarihi: 2007
  • Doi Numarası: 10.1115/1.2764511
  • Dergi Adı: JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
  • Sayfa Sayısı: ss.749-754

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.