Distributed Sliding-Mode Tracking Control of Second-Order Nonlinear Multiagent Systems: An Event-Triggered Approach

• Published in: IEEE transactions on cybernetics Vol. 50; no. 9; pp. 3892 - 3902
• Main Authors: Yao, Deyin, Li, Hongyi, Lu, Renquan, Shi, Yang
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.09.2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Closed loop systems; Consensus tracking; Control systems; Controllers; distributed sliding-mode control (SMC); Dynamical systems; event-triggered control; Feedback control; Integrals; Manifolds; Mode tracking; Multi-agent systems; Multiagent systems; Nonlinear control; Nonlinear systems; Sliding mode control; Symmetric matrices; Tracking; Tracking control
• ISSN: 2168-2267; 2168-2275; 2168-2275
• DOI: 10.1109/TCYB.2019.2963087

The event-triggered tracking control problem of second-order multiagent systems in consideration of system nonlinearities is investigated by utilizing the distributed sliding-mode control (SMC) approach. An event-triggered strategy is proposed to decrease the controller sampling frequency and save the network communication resources; the triggering condition is then established for leader-following multiagent systems. In this article, by utilizing the distributed event-based sliding-mode controller, the system state of second-order multiagent systems with system nonlinearities is capable of approaching the integral sliding-mode surface in finite time. A novel integral sliding-mode surface is constructed in this article to guarantee the consensus tracking performance in the existence of system nonlinearities as the state trajectories of second-order integrator systems move on the constructed sliding manifold. By employing the Lyapunov approach, sufficient conditions are deduced to ensure that the consensus tracking performance is obtained for the closed-loop system. Furthermore, it is presented that the triggering scheme can effectively reduce state updates and eliminate the Zeno behavior. A simulation example is provided to testify the validity of our proposed methodology.