6 research outputs found
Analysis Multi-Agent with Precense of The Leader
The phenomenon of swarm is a natural phenomenon that is often done by a collection of living things in the form of
motion from one place to another. By clustering, a group of animals can increase their effectiveness in food search and avoid
predators. A group of geese also performs a swarm phenomenon when flying and forms an inverted V-formation with one of the
geese acting as a leader. Each flying track of members of the geese group always follows the leader's path at a certain distance.
This article discusses the mathematical modeling of the swarm phenomenon, which is the optimal tracking control for multiagent model with the influence of the leader in the 2-dimensional space. The leader in this model is intended to track the
specified path. Firstly, the leader's motion control is to follow the predetermined path using the Tracking Error Dynamic method.
Then, the path from the leader is used to design the motion control of each agent to track the leader's path at a certain distance.
The result of numerical simulation shows that the leader trajectory can track the specified path. Similarly, the motion of each
agent can trace and follow the leader's path
Analysis Multi-Agent with Precense of The Leader
The phenomenon of swarm is a natural phenomenon that is often done by a collection of living things in the form of
motion from one place to another. By clustering, a group of animals can increase their effectiveness in food search and avoid
predators. A group of geese also performs a swarm phenomenon when flying and forms an inverted V-formation with one of the
geese acting as a leader. Each flying track of members of the geese group always follows the leader's path at a certain distance.
This article discusses the mathematical modeling of the swarm phenomenon, which is the optimal tracking control for multiagent model with the influence of the leader in the 2-dimensional space. The leader in this model is intended to track the
specified path. Firstly, the leader's motion control is to follow the predetermined path using the Tracking Error Dynamic method.
Then, the path from the leader is used to design the motion control of each agent to track the leader's path at a certain distance.
The result of numerical simulation shows that the leader trajectory can track the specified path. Similarly, the motion of each
agent can trace and follow the leader's path
Sliding Mode Control
The main objective of this monograph is to present a broad range of well worked out, recent application studies as well as theoretical contributions in the field of sliding mode control system analysis and design. The contributions presented here include new theoretical developments as well as successful applications of variable structure controllers primarily in the field of power electronics, electric drives and motion steering systems. They enrich the current state of the art, and motivate and encourage new ideas and solutions in the sliding mode control area