Robust Region Tracking in Multi-Agent Systems Utilizing Sliding Mode Control: Theory and Applications

<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>

Name thesis:degree_name

Master of Science

Discipline thesis:degree_discipline

Mechanical Engineering

Year dc:date.available

2011

Author dc:creator

• Bacon, Mark

Contributors dc:contributor

• Jiong Tang; Horea Ilies; Chengyu Cao
• Nejat Olgac

• Multi-Agent
• Sliding Mode Control
• Decentralized Control
• Robust Control

Repository record dc:identifier

https://digitalcommons.lib.uconn.edu/gs_theses/33

OAI identifier oai:identifier

oai:digitalcommons.lib.uconn.edu:gs_theses-1027