You can take Bailey for agility training without participating in the competitions.
I took my Bailey dog for agility training several years ago. We never got into competing as the travel was not something I was interested in. We participated in a couple of demonstration events at local charity fundraisers for pet charities when he was still active in training.
It definitely helped him calm down - he still likes to jump up on anything resembling a balance beam, walk up and down it, and pose at the end
He's a dog who needed school and likes knowing what his "job" is. I find that a well-trained dog who gets exercise is usually a happier, calmer dog.
Sort of along the lines of the Dog Whisperer's mantra of exercise, discipline and then affection. I learned it from Timberlandko here, before I knew about the Dog WhispererI find it works.