%0 Journal Article %T Variable Structure Behavioural Controller for Multi-agent Systems %J Iranian Journal of Mechanical Engineering Transactions of the ISME %I Iranian Society of Mechanical Engineering %Z 1605-9727 %A Etemadi, S. %A Kouhi, H. %A Alasty, A. %A Vossoughi, G.R. %D 2009 %\ 09/01/2009 %V 10 %N 2 %P 49-63 %! Variable Structure Behavioural Controller for Multi-agent Systems %K sliding-mode control %K behavioural controller %K multi-agent %K leader following %R %X In previous papers authors have considered agents as inertia-less self driven particles and designed a flocking algorithm. Application of this algorithm to agents with considerable inertial characteristics needs a behavioural controller. The controller uses the local information and helps every agent to imitate the desired behaviour as a member of the flocking frame which covers the main issue in this paper. All agents are assumed to possess limited identical influencing/sensing radius. The sliding-mode control technique is used, hence; effect of bounded disturbances and uncertainties can be omitted too. Once inertial agents are equipped with the behavioural controller, the multi-agent system behaves similar to a group of self-driven inertia-less particles which; coordination control algorithms and cohesion analyses are previously designed for. %U https://jmee.isme.ir/article_25484_8613a3cde1f17ee2c0509956f8da4191.pdf