variable structure behavioural controller for multi-agent systems

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.