© The Institution of Engineering and Technology
A robustising sliding mode control strategy is implemented on two competing multi-agent swarms, called pursuers and evaders, with equal membership count. Newtonian dynamic models are considered, which include drag forces as well as the inter-agent attraction/repulsion forces. The proposed sliding mode control law achieves the stability and the capture of the evaders by the pursuers despite the uncertainties in the evader behaviour. The group pursuit is conceived in two phases: the approach phase during which the two swarms act like two individuals and the assigned pursuit phase when each pursuer is assigned to an evader. Furthermore, the authors take into account a turning action for the evaders, which adds to their agility. This property is considered as a part of the uncertainty in the dynamics. The control parameters are separately studied to assess their influences on the pursuit.
References
-
-
1)
-
V. Gazi ,
R. Ordonez
.
Target tracking using artificial potentials and sliding mode control.
Int. J. Control
,
10 ,
1626 -
1635
-
2)
-
V. Gazi ,
K.M. Passino
.
Stability analysis of social foraging swarms.
IEEE Trans. Syst. Man Cybern.
,
1 ,
539 -
557
-
3)
-
H. Elmali ,
N. Olgac
.
Sliding mode control with perturbation estimation: a new approach.
Int. J. Control
,
4 ,
923 -
941
-
4)
-
D. Jin ,
L. Gao
.
Stability analysis of a double integrator swarm model related to position and velocity.
Trans. Inst. Meas. Control
,
275 -
293
-
5)
-
T. Chu ,
L. Wang ,
T. Chen
.
Self organized motion in anisotropic swarms.
J. Control Theory Appl.
,
1 ,
77 -
81
-
6)
-
V. Gazi ,
K.M. Passino
.
Stability analysis of swarms.
IEEE Trans. Autom. Control
,
4 ,
692 -
697
-
7)
-
H. Elmali ,
N. Olgac
.
Robust output tracking control of nonlinear MIMO systems via sliding mode control.
Automatica
,
1 ,
145 -
151
-
8)
-
T. Chu ,
L. Wang ,
T. Chen
.
Complex emergent swarm dynamics of anisotropic swarms: convergence vs. oscillation.
Chaos Solitons Fractals
,
4 ,
875 -
885
-
9)
-
J.J. Slotine ,
S.S. Sastry
.
Tracking control of nonlinear systems using sliding surfaces with application to robot manipulators.
Int. J. Control
,
2 ,
465 -
492
-
10)
-
S. Camazine ,
J. Deneubourg ,
N.R. Franks
.
(2001)
Self organization in biological systems.
-
11)
-
J. Yao ,
R. Ordónez ,
V. Gazi
.
Swarm tracking using artificial potentials and sliding mode control.
ASME J. Dyn. Syst. Meas. Control
,
5 ,
749 -
754
-
12)
-
D.A. Sierra ,
P. McCullough ,
N. Olgac ,
E. Adams
.
Swarm coordination under conflict and use of enhanced Lyapunov based controller.
ASME, J. Dyn. Syst. Meas. Control
,
2
-
13)
-
V. Gazi
.
Swarm aggregations using artificial potentials and sliding mode control.
IEEE Trans. Robot.
,
6 ,
1208 -
1214
-
14)
-
V. Gazi ,
K.M. Passino
.
A class of attraction/repulsion functions for stable swarm aggregations.
Int. J. Control
,
18 ,
1567 -
1579
-
15)
-
K. Warburton ,
J. Lazarus
.
Tendency-distance models of cohesion in animal groups.
J. Theor. Biol.
,
4 ,
473 -
488
-
16)
-
Sierra, D.A., McCullough, P., Adams, E., Olgac, N.: `Swarm coordination under conflict', Proc. American Control Conf., 2009, p. 1021–1026.
-
17)
-
Elmali, H., Olgac, N.: `Theory and implementation of sliding mode control with perturbation estimation', Proc. IEEE Int. Conf. Robotics and Automation, 1992, p. 2049–2053.
-
18)
-
P. McCullough ,
N. Olgac ,
M. Bacon ,
D.A. Sierra ,
R. Cepeda-Gomez
.
A Lyapunov treatment of swarm coordination under conflict.
J. Vibr. Control
,
5 ,
641 -
650
http://iet.metastore.ingenta.com/content/journals/10.1049/iet-cta.2010.0201
Related content
content/journals/10.1049/iet-cta.2010.0201
pub_keyword,iet_inspecKeyword,pub_concept
6
6