Abstract
This chapter presents higher-order discrete sliding mode protocols namely with reaching law approach and discrete supertwisting 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 chapter also presents the derivation of ultimate quasi-sliding mode band that can be achieved for both the proposed protocols. Both the protocols ensure the anti-disturbance and robustness consensus performance. To compare the consensus performance and robustness properties, both the proposed protocols are implemented on a discrete homogeneous multi-agent system comprise of 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 supertwisting algorithm.KeywordsDiscrete-time Sliding Mode Control (DSMC)Discrete Multi-Agent System (DMAS)Discrete Super-Twisting algorithm (DSTA)Discrete First-Order Sliding Mode Control (DFSM)Reaching Law (RL)Multi-Agent System (MAS)
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