Event-Based Average Consensus of Disturbed MASs via Fully Distributed Sliding Mode Control

Under undirected graph, we design the fully distributed static and dynamic event-triggered sliding mode controllers concerning the average consensus issues for single- and double-integrator multiagent systems (MASs) with perturbations. To guarantee the consensus convergence of disturbed first- and second-order MASs, two distributed sliding manifolds with respect to an odd function are first devised in this article. Second, two types of event-triggered mechanisms, i.e., a static event-triggering mechanism and a dynamic event-triggering mechanism, are established to improve the utilization efficiency of network resources and avoid the continuous communication with neighbors. In both event-triggered sliding mode control (SMC) strategies, the fully distributed event-triggered SMC laws without global information of the multiagent networks are proposed, and they can ensure the state trajectories of disturbed first- and second-order MASs to reach the average consensus. Meanwhile, the finite-time reachability of the specified sliding manifold can be guaranteed and Zeno behavior can be also averted. Third, taking advantage of the Lyapunov stability theory and SMC, sufficient conditions for the average consensus of single- and double-integrator continuous-time MASs are established. At the end, in order to show the validity of the proposed event-triggered SMC strategies, a numerical simulation and comparative study are offered.