Date of Completion

1-4-2011

Embargo Period

1-1-2001

Advisors

Jiong Tang; Horea Ilies; Chengyu Cao

Field of Study

Mechanical Engineering

Degree

Master of Science

Open Access

Open Access

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.

MajorĀ Advisor

Nejat Olgac

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