Abstract
In this chapter, we propose a higher order discrete sliding mode control protocol using a discrete-time super-twisting algorithm for leader-following consensus of a discrete heterogeneous linear multi-agent system. The discrete heterogeneous linear multi-agent system represents using fixed, directed interaction graph topology. The proposed protocol achieved the consensus of leader-following heterogeneous DMAS in finite time. The 2-DOF flexible joint and 2-DOF flexible link robotic arms are considered as leader and follower agent for simulation and experimental study. Finally, the robustness property of the proposed protocol is also checked by applying the matched disturbance.KeywordsDiscrete-time higher order sliding mode controlHeterogeneous2-DOF serial flexible joint2-DOF serial flexible link
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