Robust discrete-time non-smooth consensus protocol for multi-agent systems via super-twisting algorithm

Abstract In this paper, we firstly consider the consensus problems of first-order leaderless multi-agent systems with external disturbance. Then, we propose a robust discrete-time non-smooth (RDTNS) consensus protocol, which makes agents reach consensus within a region. Besides, we design a disturbance observer based on the discrete-time super-twisting algorithm (DTSTA), which can improve the disturbance rejection ability and decrease the consensus error for the multi-agent systems. At last, we get a robust discrete-time disturbance rejection control consensus protocol by combining the RDTNS consensus protocol with the discrete-time super-twisting observer (DTSTO). The simulation results verify the effectiveness of the proposed method.