Swarm Tracking Using Artificial Potentials and Sliding Mode Control

[+] Author and Article Information
Jingyi Yao

Diebold, Inc.yaoj@diebold.com

Raúl Ordóñez

Department of Electrical and Computer Engineering, University of Dayton, 300 College Park, Dayton, OH 45469-0232ordonez@ieee.org

Veysel Gazi

Department of Electrical and Electronics Engineering, TOBB University of Economics and Technology, Söğütözü Caddesi No. 43, 06560 Ankara, Turkeyvgazi@etu.edu.tr

J. Dyn. Sys., Meas., Control 129(5), 749-754 (Feb 12, 2007) (6 pages) doi:10.1115/1.2764511 History: Received March 31, 2006; Revised February 12, 2007

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.

Copyright © 2007 by American Society of Mechanical Engineers
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Grahic Jump Location
Figure 3

Zoomed out final position of the swarm

Grahic Jump Location
Figure 4

Zoomed out final position of the swarm

Grahic Jump Location
Figure 1

The paths of the swarm members

Grahic Jump Location
Figure 2

Zoomed out final position of the swarm



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