Event-Triggered Sliding-Mode Control for Consensus of Second-Order Leader-Following Multi-Agent Systems

This paper addresses the consensus problem of second-order leader-following multi-agent systems based on event-triggered sliding-mode control. Firstly, the sliding mode surface is designed to ensure that the states of the multi-agent system asymptotically converge on the surface. Subsequently, an event-triggered protocol is proposed to reduce the energy consumption of multi-agent systems. The protocol enables the multi-agent system to reach the sliding mode surface in finite time and achieve consensus. In addition, the occurrence of Zeno behavior is ruled out. Finally, simulations are conducted to verify the main results of this paper.