Aggregation, foraging, and formation control of swarms with non-holonomic agents using potential functions and sliding mode techniques

Veysel GAZİ, (TOBB Ekonomi ve Teknoloji Üniversitesi, Mühendislik Fakültesi, Elektrik Elektronik Mühendisliği Bölümü, Ankara, Türkiye)
Barış FİDAN, (The Australian National Univercity Research School of Information Sciences and Engineering, Canberra, Australia)
Y. Sinan HANAY, (TOBB Ekonomi ve Teknoloji Üniversitesi, Mühendislik Fakültesi, Elektrik Elektronik Mühendisliği Bölümü, Ankara, Türkiye)
M. İlter KÖKSAL (TOBB Ekonomi ve Teknoloji Üniversitesi, Mühendislik Fakültesi, Elektrik Elektronik Mühendisliği Bölümü, Ankara, Türkiye)
Turkish Journal of Electrical Engineering and Computer Sciences
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Yıl: 2007 Cilt: 15 Sayı: 2 Sayfa Aralığı: 149 - 168 Metin Dili: İngilizce İndeks Tarihi: 29-07-2022

Aggregation, foraging, and formation control of swarms with non-holonomic agents using potential functions and sliding mode techniques

Öz:
In this article we consider the aggregation, foraging, and formation control of swarms whose agents are moving in 2-dimensions with non-holonomic unicycle agent dynamics. We approach these problems using artificial potentials and sliding mode control. The main contribution is extension of the recent results (mainly for aggregation)in the literature based on a similar approach for simple integrator agent dynamics models to a significantly more realistic and more difficult setting with non-holonomic unicycle agent dynamics models. In particular, we design continuous-time control schemes via a constructive analysis based on artificial potential functions and sliding mode control techniques. The effectiveness of the proposed designs are demonstrated analytically as well as via a set of simulation results.
Anahtar Kelime:

Konular: Mühendislik, Elektrik ve Elektronik
Belge Türü: Makale Makale Türü: Araştırma Makalesi Erişim Türü: Erişime Açık
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APA Gazi V, FİDAN B, HANAY Y, KÖKSAL M (2007). Aggregation, foraging, and formation control of swarms with non-holonomic agents using potential functions and sliding mode techniques. , 149 - 168.
Chicago Gazi Veysel,FİDAN Barış,HANAY Y. Sinan,KÖKSAL M. İlter Aggregation, foraging, and formation control of swarms with non-holonomic agents using potential functions and sliding mode techniques. (2007): 149 - 168.
MLA Gazi Veysel,FİDAN Barış,HANAY Y. Sinan,KÖKSAL M. İlter Aggregation, foraging, and formation control of swarms with non-holonomic agents using potential functions and sliding mode techniques. , 2007, ss.149 - 168.
AMA Gazi V,FİDAN B,HANAY Y,KÖKSAL M Aggregation, foraging, and formation control of swarms with non-holonomic agents using potential functions and sliding mode techniques. . 2007; 149 - 168.
Vancouver Gazi V,FİDAN B,HANAY Y,KÖKSAL M Aggregation, foraging, and formation control of swarms with non-holonomic agents using potential functions and sliding mode techniques. . 2007; 149 - 168.
IEEE Gazi V,FİDAN B,HANAY Y,KÖKSAL M "Aggregation, foraging, and formation control of swarms with non-holonomic agents using potential functions and sliding mode techniques." , ss.149 - 168, 2007.
ISNAD Gazi, Veysel vd. "Aggregation, foraging, and formation control of swarms with non-holonomic agents using potential functions and sliding mode techniques". (2007), 149-168.
APA Gazi V, FİDAN B, HANAY Y, KÖKSAL M (2007). Aggregation, foraging, and formation control of swarms with non-holonomic agents using potential functions and sliding mode techniques. Turkish Journal of Electrical Engineering and Computer Sciences, 15(2), 149 - 168.
Chicago Gazi Veysel,FİDAN Barış,HANAY Y. Sinan,KÖKSAL M. İlter Aggregation, foraging, and formation control of swarms with non-holonomic agents using potential functions and sliding mode techniques. Turkish Journal of Electrical Engineering and Computer Sciences 15, no.2 (2007): 149 - 168.
MLA Gazi Veysel,FİDAN Barış,HANAY Y. Sinan,KÖKSAL M. İlter Aggregation, foraging, and formation control of swarms with non-holonomic agents using potential functions and sliding mode techniques. Turkish Journal of Electrical Engineering and Computer Sciences, vol.15, no.2, 2007, ss.149 - 168.
AMA Gazi V,FİDAN B,HANAY Y,KÖKSAL M Aggregation, foraging, and formation control of swarms with non-holonomic agents using potential functions and sliding mode techniques. Turkish Journal of Electrical Engineering and Computer Sciences. 2007; 15(2): 149 - 168.
Vancouver Gazi V,FİDAN B,HANAY Y,KÖKSAL M Aggregation, foraging, and formation control of swarms with non-holonomic agents using potential functions and sliding mode techniques. Turkish Journal of Electrical Engineering and Computer Sciences. 2007; 15(2): 149 - 168.
IEEE Gazi V,FİDAN B,HANAY Y,KÖKSAL M "Aggregation, foraging, and formation control of swarms with non-holonomic agents using potential functions and sliding mode techniques." Turkish Journal of Electrical Engineering and Computer Sciences, 15, ss.149 - 168, 2007.
ISNAD Gazi, Veysel vd. "Aggregation, foraging, and formation control of swarms with non-holonomic agents using potential functions and sliding mode techniques". Turkish Journal of Electrical Engineering and Computer Sciences 15/2 (2007), 149-168.
Sayfa Oluşturulma Tarihi
22-04-2024 12:37

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