Abstract
In this paper, we develop a robust controller to accomplish a herding task, i.e., using a directly controllable agent to influence the states of target agents which are not directly controllable. This paper employs constructive control design strategies and switched systems analysis to control a herding agent in a way that regulates fleeing target agents to a goal location. Lyapunov-based analysis is used to guarantee exponential regulation of the target agents. Preliminary simulation results are included to illustrate the performance of the developed controller.
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