Tracking Consensus of Multi-Agent Systems Under Switching Topologies via Novel SMC: An Event-Triggered Approach
Jiayi Cai, Jianwen Feng, Jingyi Wang, Yi Zhao
Abstract
This paper investigates the tracking consensus issue for second order multi-agent systems (MAS) under switching topologies by using a novel event-triggered sliding mode control strategy. First, in order to compensate for the effect brought by the information transmission caused by event-triggered sampling and the switching topologies respectively, the dynamic sliding mode control (SMC) mechanism is proposed based on two discrete level sets. By considering the event-triggered rules and the sliding mode method jointly, the corresponding limited-information-based protocol is constructed. This technology does not require the system dynamics to reach the sliding mode manifold compared to previous studies. In addition, with the help of the boundary layer technique, the control protocol is designed to be continuous, which can reduce the chattering of the system and increase the life of machine. Through strict mathematical derivation, when the dwell time of switching between different communication graph candidates is within a limited range, it is proved that the consensus error of the nonlinear multi-agent systems (NMAS) with disturbances converges to an adjustable bounded set, and the networked harmonic oscillator systems (NHOS) without disturbances asymptotically reaches zero. Finally, Zeno behavior can be avoided entirely, and several numerical examples are presented to evaluate the efficiency of the proposed algorithms.