Distributed Exponential Discrete-time Sliding Mode Consensus Protocol for Multi-Agent System
Authors :- N. Joshi and A. Mehta
Publication :- 2nd International Conference on Data, Decision and Systems (ICDDS2023) IEEE, Bangalore, India, Dec. 1-2, 2023.
This paper presents a distributed discrete-time exponential sliding mode consensus (DDESMC) protocol for a class of multi-agent systems. A leader-following approach of a homogenous multi-agent system (MAS) is exploited to derive the protocol. The discrete-time exponential sliding mode control is proposed using the graph theory. The upper bound on the number of reaching steps for achieving the consensus among all the agents is derived. The protocol ensures the minimum width of the Quasi-Sliding Mode Band (QSMB) as compared to other classical approaches. Also, the protocol ensures the consensus effort in the order O (T 3 ). The Lyapunov theory is then used to determine the global stability condition for the consensus, and finally, a numerical example is given to demonstrate the effectiveness of the protocol. Furthermore, the performance of the proposed protocol is compared to that of the standard DSMC protocol described in the literature for both the time and effort needed to reach consensus and the deviation from consensus after reaching consensus. . It is inferred that the proposed DDESMC protocol outperforms the classical DSMC protocol.