New Design on Distributed Event-Based Sliding Mode Controller for Disturbed Second-Order Multiagent Systems
Xihui Wu, Xiaowu Mu
Abstract
This article restudies the tracking consensus problem of disturbed second-order multiagent systems via event-based sliding mode control (EB-SMC). A new framework of EB-SMC method is proposed with new distributed EB integral-type sliding manifolds, distributed EB-SMCs, and more efficient event-triggered detections where continuous communication among follower agents is not required. Moreover, event-triggered conditions with heterogeneous parameters are well-designed to improve the flexibility of parameters selection. By employing Lyapunov analysis method and SMC theory, new sufficient conditions for ensuring the reachability of sliding manifold is deduced to remove the conservatism. In light of EB-SMC technique, attractive features containing fast response, good transient performance, and robustness with respect to uncertainties can be inherited. Also, resource consumption and network occupation can be greatly reduced via event-triggered control with exclusion of Zeno phenomena. At last, a numerical example is shown to support our results.