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S. Etemadi,H. Kouhi,A. Alasty,G.R. Vossoughi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper behavioral control of autonomous agents of a multi-agent system is considered. In previous paper authors presented a nonlinear approach for coordination of a group of autonomous agents by an active leader. The leader and other agents are assumed to possess limited field of view. The leader agent is able to lead the multi-agent system toward its destination only if all agents expose a quasi-static behavior. Agents as autonomous members may have higher equations of motion which can violate coordination control algorithm of the multi-agent system. To force every agent to behave as a member with quasi-static equation of motion we have designed a behavioral controller in this paper. The behavioral controller uses the local information for every agent and produces the control signal. It is based on the Sliding-mode control method so that the effect of bounded disturbances and uncertainties can be omitted as well. Once autonomous agents are equipped with the behavioral controller, the multi-agent system behaves similar to a group of agents with quasi-static behaviors and the coordination control algorithm is useable for the group.
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