Date of Completion
Jiong Tang; Horea Ilies; Chengyu Cao
Field of Study
Master of Science
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.
Bacon, Mark, "Robust Region Tracking in Multi-Agent Systems Utilizing Sliding Mode Control: Theory and Applications" (2011). Master's Theses. 33.