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

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.