Full Content is available to subscribers

Subscribe/Learn More  >

Fuzzy Sliding Mode Control of Multi-Agent Systems Using Artificial Potentials

[+] Author Affiliations
F. Roshanghalb, J. Mortazavi, A. Alasty, H. Sayyaadi

Sharif University of Technology, Tehran, Iran

Paper No. IMECE2010-40199, pp. 901-909; 9 pages
  • ASME 2010 International Mechanical Engineering Congress and Exposition
  • Volume 8: Dynamic Systems and Control, Parts A and B
  • Vancouver, British Columbia, Canada, November 12–18, 2010
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4445-8
  • Copyright © 2010 by ASME


In this paper a fuzzy control strategy of autonomous multi-agent systems is presented. The main purpose is to obtain an improvement on the results of designed sliding mode controllers in previous articles using supervisory fuzzy controller. Similarly, a quasi-static swarm model in n-dimensional space is introduced wherein the inter-individual interactions are based on artificial potential functions; and the motions of members are in direction with the negative gradient of the combined potentials which are the result of a balance between inter-individual interactions and the simultaneous interactions of the swarm members with their environment. Then a general model for vehicle dynamics of each agent has been studied. The aim is to reach the desirable formation of swarm by forcing agent’s motion to follow the quasi-static model. In literature a sliding mode controller is used to perform this task. In this work, same control structure is applied with a difference in control parameters. In this paper, fuzzy rules are introduced for some major control parameters which are efficacious on the results in order to get better performances along with less error during the formation control approach.

Copyright © 2010 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In