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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
Summary
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.
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.
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