Discrete-Time Second-Order Sliding Mode Protocol for Formation of Quadcopter Swarm

In Chapter 5, a DDSM super-twisting protocol is designed for the formation of Quadcopter swarm along with the global stability analysis using the Lyapunov function. The discrete super-twisting (DST) protocol not only ensures the robustness but also reduces the QSMB and faster the convergence than the first-order DSMC. In order to check the efficacy of the DDSM super-twisting formation protocol, the other two first-order controllers designed using Gao’s reaching law and Bartoszewicz’s reaching law are compared.