Discrete Higher Order Sliding Mode Protocol for Leader-Following Consensus of Heterogeneous Discrete Multi-Agent System

Abstract

In this chapter, discrete higher order sliding mode protocols, namely, with reaching law approach and discrete super-twisting algorithm are proposed for the leader-following discrete homogeneous multi-agent system to achieve the global consensus in finite time. The higher order sliding mode control facilitates to reduce the switching control chattering band, known as quasi-sliding mode band which ultimately increases the robustness property. The derivation of the ultimate quasi-sliding mode band can be achieved for both the proposed protocols. Both protocols ensure the anti-disturbance and robustness consensus performance. To compare the consensus performance and robustness properties, both proposed protocols are implemented on a homogeneous discrete multi-agent system comprising 2-DOF serial flexible robotic arms. From the simulation and experimental results, it is inferred that the discrete higher order protocol due to the reaching law approach outperforms the protocol using the discrete super-twisting algorithm.