This thesis presents a methodology to bring controlled agents within a moving region despite agent interaction dynamics, uncertain forces and parameter variation. The logic is derived from traditional Sliding Mode Control theory with an expanded boundary layer which allows position deviation from the region center to specified bounds. As an example of the utility of this control, multiple methods of herding (controlling passive agents by appropriate positioning of controlled agents) are presented.
","abstract_html":"<p>This thesis presents a methodology to bring controlled agents within a moving region despite agent interaction dynamics, uncertain forces and parameter variation. The logic is derived from traditional Sliding Mode Control theory with an expanded boundary layer which allows position deviation from the region center to specified bounds. As an example of the utility of this control, multiple methods of herding (controlling passive agents by appropriate positioning of controlled agents) are presented.</p>","abstract_has_math":false,"creators":["Bacon, Mark"],"institution":null,"degree_name":"Master of Science","degree_level":null,"degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Jiong Tang; Horea Ilies; Chengyu Cao","Nejat Olgac"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2011,"date_issued":"2011-01-04T08:00:00Z","date_published":"2011-01-04T08:00:00Z","updated_at":"2026-07-24T06:31:35Z","subjects":["Multi-Agent","Sliding Mode Control","Decentralized Control","Robust Control"],"languages":[],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://digitalcommons.lib.uconn.edu/gs_theses/33","outbound_label":"Repository record","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Jiong Tang; Horea Ilies; Chengyu Cao","Nejat Olgac"]},{"key":"dc:creator","label":"Author","values":["Bacon, Mark"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.available","label":"Dc Date Available","values":["2001-01-01T08:00:00Z"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Multi-Agent","Sliding Mode Control","Decentralized Control","Robust Control"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://digitalcommons.lib.uconn.edu/gs_theses/33"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["This thesis presents a methodology to bring controlled agents within a moving region despite agent interaction dynamics, uncertain forces and parameter variation. The logic is derived from traditional Sliding Mode Control theory with an expanded boundary layer which allows position deviation from the region center to specified bounds. As an example of the utility of this control, multiple methods of herding (controlling passive agents by appropriate positioning of controlled agents) are presented.
"]},{"key":"dc:title","label":"Title","values":["Robust Region Tracking in Multi-Agent Systems Utilizing Sliding Mode Control: Theory and Applications"]}]}],"canonical_facts":{"dc:contributor":["Jiong Tang; Horea Ilies; Chengyu Cao","Nejat Olgac"],"dc:creator":["Bacon, Mark"],"dc:date.available":["2001-01-01T08:00:00Z"],"dc:description.abstract":["This thesis presents a methodology to bring controlled agents within a moving region despite agent interaction dynamics, uncertain forces and parameter variation. The logic is derived from traditional Sliding Mode Control theory with an expanded boundary layer which allows position deviation from the region center to specified bounds. As an example of the utility of this control, multiple methods of herding (controlling passive agents by appropriate positioning of controlled agents) are presented.
"],"dc:identifier":["https://digitalcommons.lib.uconn.edu/gs_theses/33"],"dc:subject":["Multi-Agent","Sliding Mode Control","Decentralized Control","Robust Control"],"dc:title":["Robust Region Tracking in Multi-Agent Systems Utilizing Sliding Mode Control: Theory and Applications"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_name":["Master of Science"]},"updated_at":"2026-07-24T06:31:35Z"}