TY - JOUR ID - 25484 TI - Variable Structure Behavioural Controller for Multi-agent Systems JO - Iranian Journal of Mechanical Engineering Transactions of the ISME JA - JMEE LA - en SN - 1605-9727 AU - Etemadi, S. AU - Kouhi, H. AU - Alasty, A. AU - Vossoughi, G.R. AD - School of Mechanical Engineering, Sharif University of Technology, Tehran Y1 - 2009 PY - 2009 VL - 10 IS - 2 SP - 49 EP - 63 KW - sliding-mode control KW - behavioural controller KW - multi-agent KW - leader following DO - N2 - 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. UR - https://jmee.isme.ir/article_25484.html L1 - https://jmee.isme.ir/article_25484_8613a3cde1f17ee2c0509956f8da4191.pdf ER -