Browsing by Author "Gazi, V"

Now showing 1 - 5 of 5

Citation - WoS: 7
Citation - Scopus: 8
Formation Control of a Multi-Agent System Using Decentralized Nonlinear Servomechanism
(Ieee, 2003) Gazi, V; 01. Atılım University
In this article we consider the formation control problem of a system of M agents with general nonlinear dynamics. We show that the problem of the agents moving in a formation along constant or periodic trajectories can be formulated as a nonlinear output regulation (servomechanism) problem and solved using known techniques. Then, we consider the example of formation control of agents with point mass dynamics and apply the procedure. Few illustrative numerical simulation examples are also provided.
Citation - WoS: 430
Citation - Scopus: 576
Stability Analysis of Social Foraging Swarms
(Ieee-inst Electrical Electronics Engineers inc, 2004) Gazi, V; Passino, KM; 01. Atılım University
In this article we specify an M-member "individual-based" continuous time swarm model with individuals that move in an n-dimensional space according to an attractant/repellent or a nutrient profile. The motion of each individual is determined by three factors: i) attraction to the other individuals on long distances; ii) repulsion from the other individuals on short distances; and iii) attraction to the more favorable regions (or repulsion from the unfavorable regions) of the attractant/repellent profile. The emergent behavior of the swarm motion is the result of a balance between inter-individual interactions and the simultaneous interactions of the swarm members with their environment. We study the stability properties of the collective behavior of the swarm for different profiles and provide conditions for collective convergence to more favorable regions of the profile.
Citation - WoS: 664
Citation - Scopus: 837
Stability Analysis of Swarms
(Ieee-inst Electrical Electronics Engineers inc, 2003) Gazi, V; Passino, KM; 01. Atılım University
In this note, we specify an "individual-based" continuous-time model for swarm aggregation in n-dimensional space and study its stability properties. We show that the individuals (autonomous agents or biological creatures) will form a cohesive swarm in a finite time. Moreover, we obtain an explicit bound on the swarm size, which depends only on the parameters of the swarm model.
Citation - WoS: 13
Citation - Scopus: 34
Swarm Aggregations Using Artificial Potentials and Sliding Mode Control
(Ieee, 2003) Gazi, V; 01. Atılım University
In this article we build on our earlier results in [1, 2] on swarm stability. In [1, 2] we had considered aggregating swarm model in n-dimensional space based on artificial potential functions for inter-individual interactions and motion along the negative gradient of the combined potential. Here we consider a general model for vehicle dynamics of each agent (swarm member) and use sliding mode control theory to force their motion to obey the dynamics of the swarm considered in [1, 2]. In this context, the results in [1, 2] serve as a "proof of concept" for swarm aggregation, whereas the present results serve as possible implementation method for engineering swarms with given vehicle dynamics. Moreover, the presented control scheme is robust with respect to disturbances and system uncertainties.
Citation - WoS: 16
Target Tracking Using Artificial Potentials and Sliding Mode Control
(Ieee, 2004) Gazi, V; Ordóñez, R; 01. Atılım University
In this article we develop an algorithm for capturing/intercepting a moving target based on the sliding mode control method. First, we consider a "kinematic" model (in a sense) for the capture/intercept problem and develop a method for that case. Then, we build on the developed method to include general fully actuated vehicle dynamics for the pursuer agent. The algorithm is robust with respect to the system uncertainties and additive disturbances. Finally, we also provide a numerical simulation in order to illustrate the procedure.