Adaptive Event-Triggered Sliding-Mode Control for Consensus Tracking of Nonlinear Multiagent Systems With Unknown...

Area of Science:

• Control Systems Engineering
• Robotics
• Networked Systems

Background:

• Leader-following nonlinear multiagent systems (MASs) face challenges with unknown perturbations and limited bandwidth.
• Existing control methods may not efficiently manage network resources or actuator wear.

Purpose of the Study:

• To develop a robust adaptive event-triggered sliding-mode control method for nonlinear MASs.
• To ensure finite-time state reachability and adaptive tracking performance.
• To reduce network resource consumption and actuator wear through an adaptive triggering mechanism.

Main Methods:

• A distributed integral sliding mode is established for finite-time state reachability.
• An adaptive triggering control mechanism dynamically adjusts the triggering interval.
• A distributed event-based robust adaptive sliding-mode protocol is constructed.

Main Results:

• The proposed method ensures that the positions and velocities of the MAS converge to the equilibrium point.
• Sufficient conditions for adaptive tracking performance are derived using Lyapunov stability theory and the Barbalat lemma.
• Simulations demonstrate the efficacy of the event-based robust adaptive sliding-mode controller.

Conclusions:

• The developed control strategy effectively addresses adaptive tracking in nonlinear MASs under uncertainties and bandwidth limitations.
• The event-triggered approach optimizes resource usage and actuator longevity.
• The findings offer a robust solution for practical applications of nonlinear MASs.