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Advances in Control Systems and its Infrastructure pp 1–10Cite as

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

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Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 604))

Abstract

In this paper,  we proposed higher order discrete sliding mode control protocol using discrete-time supertwisting algorithm for the consensus of leader-following discrete heterogeneous linear multi-agent system (DHLMAS). The DHLMAS is represented using fixed, directed interaction graph topology. The proposed consensus protocol has the ability to synchronize the heterogeneous follower agents with leader agent in a finite time steps. The 2-DOF flexible joint and the 2-DOF flexible link robotic arms are considered as the leader and follower agents respectively for the simulation and experimental study. Further, the robustness of proposed consensus protocol is assessed by giving the matched disturbance.

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering, Institute of Infrastructure Technology Research and Management, Ahmedabad, 380026, Gujarat, India

    Keyurkumar Patel & Axaykumar Mehta

Authors
  1. Keyurkumar Patel
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  2. Axaykumar Mehta
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Corresponding author

Correspondence to Keyurkumar Patel .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, Institute of Infrastructure Technology Research and Management (IITRAM), Ahmedabad, Gujarat, India

    Axaykumar Mehta

  2. Department of Electrical Engineering, Institute of Infrastructure Technology Research and Management (IITRAM), Ahmedabad, Gujarat, India

    Abhishek Rawat

  3. Department of Electrical Engineering, Institute of Infrastructure Technology Research and Management (IITRAM), Ahmedabad, Gujarat, India

    Priyesh Chauhan

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Patel, K., Mehta, A. (2020). Discrete Higher Order Sliding Mode Protocol for Leader-Following Consensus of Heterogeneous Discrete Multi-Agent System. In: Mehta, A., Rawat, A., Chauhan, P. (eds) Advances in Control Systems and its Infrastructure. Lecture Notes in Electrical Engineering, vol 604. Springer, Singapore. https://doi.org/10.1007/978-981-15-0226-2_1

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