Swarm aggregations using artificial potentials and sliding mode control

In this article we build on results of V. Gazi et al. (2003, 2002) on swarm stability. V. Gazi et al. considered aggregating a swarm model in n-dimensional space based on artificial potential functions for inter-individual interactions and motion along the negative gradient of the combined potential. Here the author considers a general model for vehicle dynamics of each agent (swarm member) and uses sliding mode control theory to force their motion to obey the dynamics of the swarm considered in V. Gazi et al. (2003, 2002). In this context, the results in V. Gazi et al. (2003, 2002) serve as a "proof of concept" for swarm aggregation, whereas the present results serve as a possible implementation method for engineering swarms with given vehicle dynamics. Moreover, the presented control scheme is robust with respect to disturbances and system uncertainties.