Sliding Mode Control of Multi-Agent Relay Tracking Systems

In this paper, a class of tracking problem of multi-agent systems with switching topologies and replacement of agents is investigated. In particular, it is assumed the agents are randomly deployed in a two-dimensional space, which is divided into numerous subareas with assistance of Voronoi diagram. Agents are dedicated to tracking any intruded targets in this area. During the tracking process, if any tracking agents occurs malfunction, the Voronoi site agent where the target resides joins the tracking. This means that not only the topology but also the tracking agent switches. In order to achieve a successful tracking of the target, the sliding mode controller is designed for the relay tracking system subject to switching both in topologies and agents. Finally, the proposed tracking strategy is verified by a set of simulations.