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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.
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.
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