Discrete-Time Sliding Mode Protocols for Discrete Multi-Agent System

✍ Scribed by Keyurkumar Patel, Axaykumar Mehta

Publisher: Springer Singapore;Springer
Year: 2021
Tongue: English
Leaves: 140
Series: Studies in Systems, Decision and Control 303
Edition: 1st ed.
Category: Library

No coin nor oath required. For personal study only.

✦ Synopsis

This book presents few novel Discrete-time Sliding Mode (DSM) protocols for leader-following consensus of Discrete Multi-Agent Systems (DMASs). The protocols intend to achieve the consensus in finite time steps and also tackle the corresponding uncertainties. Based on the communication graph topology of multi-agent systems, the protocols are divided into two groups, namely (i) Fixed graph topology and (ii) Switching graph topology. The coverage begins with the design of Discrete-time Sliding Mode (DSM) protocols using Gao’s reaching law and power rate reaching law for the synchronization of linear DMASs by using the exchange of information between the agents and the leader to achieve a common goal. Then, in a subsequent chapter, analysis for no. of fixed-time steps required for the leader-following consensus is presented. The book also includes chapters on the design of Discrete-time Higher-order Sliding Mode (DHSM) protocols, Event-triggered DSM protocols for the leader-following consensus of DMASs. A chapter is also included on the design of DHSM protocols for leader-following consensus of heterogeneous DMASs.
Special emphasis is given to the practical implementation of each proposed DSM protocol for achieving leader-following consensus of helicopter systems, flexible joint robotic arms, and rigid joint robotic arms. This book offers a ready reference guide for graduate students and researchers working in the areas of control, automation, and communication engineering, and in particular the cooperative control of multi-agent systems. It will also benefit professional engineers working to design and implement robust controllers for power systems, autonomous vehicles, military surveillance, smartgrids/microgrids, vehicle traffic management, robotic teams, and aerial robots.

✦ Table of Contents

Front Matter ....Pages i-xxv
Introduction (Keyurkumar Patel, Axaykumar Mehta)....Pages 1-14
Preliminaries of Sliding Mode Control and Graph Theory (Keyurkumar Patel, Axaykumar Mehta)....Pages 15-37
Discrete-Time Sliding Mode Protocols for Leader-Following Consensus of Homogeneous Discrete Multi-Agent System with Fixed Graph Topology (Keyurkumar Patel, Axaykumar Mehta)....Pages 39-58
Discrete-Time Sliding Mode Protocols for Leader-Following Consensus of Discrete Multi-Agent System with Switching Graph Topology (Keyurkumar Patel, Axaykumar Mehta)....Pages 59-76
Discrete-Time Higher Order Sliding Mode Protocols for Leader-Following Consensus of Homogeneous Discrete Multi-Agent System (Keyurkumar Patel, Axaykumar Mehta)....Pages 77-96
Event-Triggered Discrete-Time Higher Order Sliding Mode Protocol for Leader-Following Consensus of Homogeneous DMAS (Keyurkumar Patel, Axaykumar Mehta)....Pages 97-109
Discrete-Time Higher Order Sliding Mode Protocol for Consensus of Leader-Following Heterogeneous Discrete Multi-Agent System (Keyurkumar Patel, Axaykumar Mehta)....Pages 111-118
Concluding Remarks and Future Scope (Keyurkumar Patel, Axaykumar Mehta)....Pages 119-121

✦ Subjects

Engineering; Control, Robotics, Mechatronics; Robotics and Automation; Systems Theory, Control; Topology

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