Event-triggered sliding mode control for first-order nonlinear multi-agent system

This paper solves the leader-following consensus problem for the first-order heterogeneous nonlinear multi-agent system. Firstly, define a suitable leader-following consensus error protocol, and design a corresponding sliding mode controller, so that each follower can achieve leader-following consensus under the influence of external disturbances and internal intrinsic non-linear factors. At the same time, to ensure the effective use of signal transmission resources, a corresponding event-triggered condition is designed to reduce control signal updates and signal transmission. Finally, the effectiveness of the proposed algorithm is verified by simulation.