Control of autonomous agent swarms is studied for targeted flocking exercises. The desired decentralized control also requires robustness against modeling uncertainties and bounded unknown forces. In this analysis, we consider the task of robustly driving multiple agents to a moving ‘target region’, as repulsive interactions help spread out the agents. An unconventional form of sliding mode control is implemented to provide the robust attraction towards the region’s center. For robustness a ‘boundary layer’ is conceived, which corresponds to the desired target region. The attraction is intentionally softened inside this target region, allowing agents to create a final formation utilizing their repulsion forces. Examples are given for moving circular and elliptical regions which illustrate the effectiveness of the proposed strategy.
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ASME 2010 Dynamic Systems and Control Conference
September 12–15, 2010
Cambridge, Massachusetts, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4418-2
PROCEEDINGS PAPER
Robust Region-Tracking for Multi-Agent Systems Using Sliding Mode Control
Mark Bacon,
Mark Bacon
University of Connecticut, Storrs, CT
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Nejat Olgac
Nejat Olgac
University of Connecticut, Storrs, CT
Search for other works by this author on:
Mark Bacon
University of Connecticut, Storrs, CT
Nejat Olgac
University of Connecticut, Storrs, CT
Paper No:
DSCC2010-4023, pp. 369-376; 8 pages
Published Online:
January 25, 2011
Citation
Bacon, M, & Olgac, N. "Robust Region-Tracking for Multi-Agent Systems Using Sliding Mode Control." Proceedings of the ASME 2010 Dynamic Systems and Control Conference. ASME 2010 Dynamic Systems and Control Conference, Volume 2. Cambridge, Massachusetts, USA. September 12–15, 2010. pp. 369-376. ASME. https://doi.org/10.1115/DSCC2010-4023
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