In this study, a framework is proposed for the distributed control and coordination of multi-agent systems. In the proposed framework, the control of multi-agent systems is regarded as achieving decentralized control and coordination of agents. Each agent is modeled as a coordinated hybrid agent (CHA) which is composed of an intelligent coordination control layer and a hybrid control layer. The intelligent coordination control layer deals with the planning, coordination, decision-making and computation of the agent The hybrid control layer of the proposed framework takes the output of the intelligent coordination layer and generates discrete and continuous control signals to control the overall process. In order to verify the feasibility of the proposed framework, the proposed framework is applied for controlling a multi-crane system.
['Fakhri Karray', 'O. Basir', 'Insop Song', 'Howard Li']
A framework for coordinated control of multi-agent systems