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<p>In this paper, an event-triggered sliding mode control (ETSMC) approach is proposed to address the guaranteed-cost consensus problem for second-order nonlinear multi-agent systems (MASs) subject to uncertain disturbances. To mitigate the influence of external disturbances, an integral sliding mode surface is introduced in the control design, thereby driving the system states onto the sliding mode manifold within a finite time. To effectively alleviate the communication burden induced by frequent interactions, an event-triggered mechanism that excludes Zeno behavior is developed to regulate the agents under arbitrary initial conditions. Furthermore, by means of Lyapunov-based analysis, guaranteed-cost consensus is achieved while the control cost is minimized. Compared with existing ETSMC methods, the sliding mode function developed in the present study avoids the risk of communication overload arising from continuous information acquisition and yields a more accurate cost estimate. Finally, numerical simulations and an application to a single-link manipulator are provided to demonstrate the effectiveness of the proposed algorithm.</p>

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Sliding mode consensus control for second-order multi-agent systems via event-triggered guaranteed-cost strategy

  • 期刊论文

  • 发表日期：

    2026年5月28日

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  • Jiayi Cai,
  • Juan Zhou,
  • Chengbo Yi,
  • Chenglin Jing,
  • Ze You

摘要

In this paper, an event-triggered sliding mode control (ETSMC) approach is proposed to address the guaranteed-cost consensus problem for second-order nonlinear multi-agent systems (MASs) subject to uncertain disturbances. To mitigate the influence of external disturbances, an integral sliding mode surface is introduced in the control design, thereby driving the system states onto the sliding mode manifold within a finite time. To effectively alleviate the communication burden induced by frequent interactions, an event-triggered mechanism that excludes Zeno behavior is developed to regulate the agents under arbitrary initial conditions. Furthermore, by means of Lyapunov-based analysis, guaranteed-cost consensus is achieved while the control cost is minimized. Compared with existing ETSMC methods, the sliding mode function developed in the present study avoids the risk of communication overload arising from continuous information acquisition and yields a more accurate cost estimate. Finally, numerical simulations and an application to a single-link manipulator are provided to demonstrate the effectiveness of the proposed algorithm.