Fixed time steps discrete-time sliding mode consensus protocols for two degree of freedom helicopter systems. (November 2021)

• Record Type: Journal Article
• Authors: Patel, Keyurkumar; Mehta, Axaykumar
• Is Part Of: Transactions of the Institute of Measurement and Control. Volume 43:Number 15(2021)
• Page Start: 3322
• Page End: 3334
• Publication Date: 2021-11
• Subjects: Sliding mode control -- multi-agent system -- robotics -- robust control -- discrete-time sliding mode (DSM); Automatic control -- Periodicals; Measuring instruments -- Periodicals; Commande automatique -- Périodiques; Mesure -- Instruments -- Périodiques; 681.2
• DOI: 10.1177/01423312211004778
• Languages: English
• ISSNs: 0142-3312

Abstract

This paper presents analysis of number of steps required for the consensus in a leader-following discrete multi-agent system (DMAS) with discrete-time sliding mode protocols designed by Gao's reaching law and power rate reaching laws. The DMAS is configured for communication with a fixed, undirected graph topology having one leader and other agents as followers. The sufficient condition for global stability is established using the Lyapunov function in both the cases. The efficacy of both the protocols is compared in simulation for number of steps required for the consensus of a homogeneous multiple two degree of freedom helicopter systems where the pitch angle and its velocity and yaw angle and its velocity are used for consensus. The simulation results reveal that the consensus performance due to protocol with power rate reaching law outperforms the protocol with Gao's reaching law.