This　paper　focuses　on　the　simulation　and　comparison　of　different　types　of　first-order　decentralized　sliding　mode　estimators　(FDSMEs).　From　the　previous　works,　three　types　of　FDSMEs　were　presented　and　applied　to　solve　the　cooperative　control　problems.　Utilizing　the　FDSME,　a　finite-time　leader-follower　tracking　control　algorithm　is　proposed　for　a　networked　single-integrator　vehicle　system.　Then　based　on　the　existing　structure　of　FDSME,　a　new　compound　FDSME　is　developed　to　improve　the　estimation　performance.　Simulation　and　comparison　of　all　the　presented　FDSMEs　are　given　in　detail　to　evaluate　the　theoretical　results.　Finally,　regulation　rules　of　the　parameters　in　the　compound　FDSME　are　summarized　according　to　the　simulation　results.　©　2018　IEEE.