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Distributed Discrete-time Exponential Sliding Mode Consensus Protocol for Discrete Multi-Agent System Comprise of

Nikita Joshi1, Axaykumar Mehta1

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

ISA Transactions
|February 29, 2024
PubMed
Summary
This summary is machine-generated.

A new Distributed Discrete-time Exponential Sliding Mode Consensus (DDESMC) protocol minimizes consensus time and effort for discrete multi-agent systems. This advanced protocol also significantly reduces consensus deviation, outperforming existing methods.

Keywords:
2-DOF robotic armConsensusDiscrete multi-agent systemDiscrete-time exponential sliding mode control

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Area of Science:

  • Control Systems Engineering
  • Robotics
  • Distributed Systems

Background:

  • Multi-agent systems (MAS) require coordinated behavior for complex tasks.
  • Achieving consensus efficiently and accurately is a key challenge in discrete-time MAS.
  • Existing consensus protocols often face limitations in speed, effort, and precision.

Purpose of the Study:

  • To propose a novel Distributed Discrete-time Exponential Sliding Mode Consensus (DDESMC) protocol.
  • To enhance leader-follower consensus in Discrete Multi-Agent Systems (DMAS).
  • To minimize consensus effort, reaching time, and consensus deviation.

Main Methods:

  • Development of the DDESMC protocol for DMAS.
  • Analysis of consensus stability using Lyapunov theory.
  • Calculation of maximum reaching steps for consensus.
  • Validation through simulations and experiments with robotic arms.

Main Results:

  • The DDESMC protocol achieves minimal consensus effort and reaching time.
  • Consensus deviation is minimized to the order of O(T^3).
  • The proposed protocol demonstrates superior performance compared to existing methods in simulations and experiments.
  • Stability analysis confirms reliable consensus achievement.

Conclusions:

  • The DDESMC protocol offers an effective solution for leader-follower consensus in discrete-time MAS.
  • It provides significant improvements in convergence speed, control effort, and precision.
  • The protocol's efficacy is validated in a mixed real-virtual robotic arm system.