Sliding mode consensus control for multi-agent systems under hybrid scheduling protocol
In this study,the consensus tracking problem for leader-follower multi-agent systems(MASs)under communication channel constraints is investigated.To improve the communication efficiency and reduce the energy consumption of MASs,a hybrid transmission strategy by integrating an event-triggering mechanism(ETM)with a Round-Robin protocol(RRP)is employed to schedule the data transmission between neighboring agents and improve channel utilization.Considering the presence of matched input perturbations to the system,a token-dependent distributed sliding mode control(SMC)scheme and co-design is constructed,which only depends on the state component at triggering instants instead of the real-time state information,thus efficiently alleviating continuous communication and data conflicts.The co-control strategy proposed in this study does not depend on any global network information.Therefore,the effectiveness of this control strategy will not be affected by the scale of the network.Using the Lyapunov stability theory,the consensus error tracking analysis of the system is given to guarantee the leader-follower consensus.Meanwhile,the controller gain and scheduling protocol parameters are obtained by solving the optimization problem.Finally,a numerical example shows the effectiveness of the proposed strategy.
multi-agent systemsconsensussliding mode controlevent-triggering mechanismchannel scheduling protocoldistributed control
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