Event-Triggered Finite-Time Sliding Mode Control for Leader-Following Second-Order Nonlinear Multi-Agent Systems
Qiang Han, Yongshuai Zhou, Yuxin Tang, Xianguo Tuo, Ping He
Abstract
Finite-time leader-following consensus problem of second-order multi-agent system (MAS) with nonlinear dynamics under directed communication topology is investigated in this paper. Based on the event triggered mechanism, a novel finite-time integral sliding mode control strategy is proposed to guarantee that the consensus stability of MAS can be reached within the upper limit of the time, which can be predicted according to the initial state of MAS. The event-triggered condition on the basis of the defined novel measurement error effectively reduces the energy dissipation of the system and the update frequency of the controller, and the deduced lower bound expression of the event-triggered time interval avoids the occurrence of zeno behavior. Numerical simulation results illustrate the effectiveness and feasibility of the proposed algorithm.