Sliding-mode control for multi-agent systems under the event-triggering WTOD protocol

This paper considers the sliding-mode consensus control problem of the multi-agent systems (MASs), in which an event-triggering weighted try-once-discard (ET-WTOD) protocol is proposed to schedule the transmission of each agent's state information. The key feature of the ET-WTOD protocol is to flexibly adjust the number of transmitted state components at each triggering instant based on the variation of each component and the set thresholds. Then, a token-dependent sliding-mode controller under the ET-WTOD protocol is designed to achieve the desirable consensus of MASs, meanwhile, an iterative optimisation algorithm is used to search the sliding matrix and reduce the sliding domain. Eventually, a numerical simulation example demonstrates the efficacy of the proposed sliding-mode control approach.