Event-triggered sliding mode scaled consensus control for multi-agent systems

In this paper, the scaled consensus problem for discrete-time multi-agent systems is investigated via event-triggered sliding mode control approach subject to unknown external bounded disturbance and time-varying state delay. A new event-triggered integral sliding surface function is introduced to handle the external disturbances. Then, a distributed event-triggered control method is integrated with sliding mode control to address the energy-constrained issue in the scaled consensus problem. Subsequently, a sufficient condition is established to ensure a predefined H∞ performance can be achieved for the underlying system. Furthermore, an event-triggered sliding mode control protocol is developed to guarantee the state trajectories of all agents approach the dictated scales in the discrete-time multi-agent systems. A numerical example is given to demonstrate the effectiveness of the proposed design techniques.