Agents Coordination in Flat Hierarchical Society-Oriented Systems

The paper proposes a framework for engineering a coherent society-oriented system using the concept of sliding-mode control from systems theory. The agents are coordinated through local control laws using a switching logic related to the sliding manifolds. The sliding manifolds stand for sub-plans and therefore they are updated every time a change in planning is required. The agents have the ability of self-adaptation by adjusting the structure of the sliding manifolds. The design is performed using tools from the algebraic framework. We also address the problem of deriving the sliding manifolds from the given specifications.