These are different things -- protocols/rituals vs. the history of BDSM. For protocols, I'd start with this book by Christina Abernathy. My F/friends who are nuts about protocols all swear by it. Robert J. Rubel also has a Protocols book.
In terms of the history of BDSM, could you be more specific? I think you probably mean the relatively new (historically-speaking) leather subculture which first began with the gay biker community and then spread to the vanilla world. That's where most, but not all, protocols really took hold. But maybe you want Marquis de Sade . . .? Is your Dominant a Gorean, observing John Norman's protocols in his fictional fantasy world of Gor?
Protocols/rituals exist to put both of you in the proper head space. While these ceremonial gestures might seem over-the-top at times, on any given day, one of Y/you might not be "feeling it" in terms of D/s that day, but these are a great way to snap Y/you back into Dominant or submissive mode. Other protocols are there to protect you from harm, or from accidentally showing disrespect to your Domme.
If you are screwing up on your protocols, then perhaps you do not understand the reason for those particular protocols you keep forgetting to do. Part of the Dominant's job is to correct and explain . . . and then punish, if correction doesn't work. As a submissive, you are allowed to respectfully ask about a protocol that you do not understand. If you are "under consideration", it's often good to have your protocols written out as part of Y/your D/s contract.
) 
Also, lok for anything on Gay leather history, that will give you some excellent insight as well