Discrete-time Sliding Mode Control for Leader Following Discrete-time Multi-Agent System

Patel, Keyurkumar; Mehta, Axaykumar

doi:10.1109/iecon.2018.8591273

Cited by 16 publications

(4 citation statements)

References 22 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Considering Lemma 1, the global consensus error from equation ( 6) can be rewritten as (Patel and Mehta, 2018)…”

Section: Representation Of Discrete Leader-following Masmentioning

confidence: 99%

“…Lemma 2: (Patel and Mehta, 2018): For the global DMAS defined in equation ( 3) is said to achieve the global consensus with the leader agent in equation ( 4) in fixed-time steps using protocol given as…”

Section: Representation Of Discrete Leader-following Masmentioning

confidence: 99%

“…Very recently, authors have proposed several discrete-time sliding mode (DSM) protocols for global consensus of DMAS. For example: (1) In Patel and Mehta (2018), a discrete-time sliding mode control using Gaos reaching law for global consensus of DMAS for a fixed graph topology is proposed and also a necessary condition for the global stability of the DMAS is established. (2) The protocol is further extended with power rate reaching law in Patel and Mehta (2019) to achieve global consensus of DMAS with switching graph topology.…”

Section: Introductionmentioning

confidence: 99%

“…Graph theory and representation of discrete-time leader-following MAS Graph theory (Patel and Mehta, 2018) Consider a weighted digraph G = (V , E, A) with a non-empty finite set of N nodes.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Fixed time steps discrete-time sliding mode consensus protocols for two degree of freedom helicopter systems

Patel

Mehta

2021

Transactions of the Institute of Measurement and Control

Self Cite

View full text Add to dashboard Cite

This paper presents analysis of number of steps required for the consensus in a leader-following discrete multi-agent system (DMAS) with discrete-time sliding mode protocols designed by Gao’s reaching law and power rate reaching laws. The DMAS is configured for communication with a fixed, undirected graph topology having one leader and other agents as followers. The sufficient condition for global stability is established using the Lyapunov function in both the cases. The efficacy of both the protocols is compared in simulation for number of steps required for the consensus of a homogeneous multiple two degree of freedom helicopter systems where the pitch angle and its velocity and yaw angle and its velocity are used for consensus. The simulation results reveal that the consensus performance due to protocol with power rate reaching law outperforms the protocol with Gao’s reaching law.

show abstract

“…Considering Lemma 1, the global consensus error from equation ( 6) can be rewritten as (Patel and Mehta, 2018)…”

Section: Representation Of Discrete Leader-following Masmentioning

confidence: 99%

Section: Representation Of Discrete Leader-following Masmentioning

confidence: 99%