Sliding Mode Control for Multi-Agent Systems Under Event-Triggering Hybrid Scheduling Strategy

The consensus tracking problem is investigated for leader-follower multi-agent systems (MASs) with constrained communication bandwidth between agents. A hybrid scheduling strategy is introduced to assign the sensor nodes dynamically. Compared with conventional event-triggering mechanisms and channel scheduling protocols, the proposed hybrid scheduling strategy establishes a dynamic coupling mechanism between channel resource and scheduling rules, aiming to strike a balance between reducing communication resource requirements and improving system performance. Considering the matched input perturbations, a co-design scheme for both the token-dependent distributed sliding mode controller and scheduling strategy is synthesized to attain consensus among the MASs. The controller gain and event-triggering thresholds are obtained by solving an optimization problem. Finally, a numerical example shows the effectiveness of the proposed strategy.