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

  • Keyurkumar PatelEmail author
  • Axaykumar Mehta
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 604)


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.


Discrete-time sliding mode control (DSMC) Discrete heterogeneous linear multi-agent system (DHLMAS) Discrete-time supertwisting algorithm (DSTA) 


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© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  1. 1.Department of Electrical EngineeringInstitute of Infrastructure Technology Research and ManagementAhmedabadIndia

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