Event Based Robust Consensus for Multi-Agent Systems via Sliding-Mode Control

This paper investigates the robust consensus for a class of uncertain linear multi-agent systems. In order to reduce the controller update frequency and the communication load of the network, a consensus algorithm based on event-triggered strategy is proposed and each triggering condition is established using measurement error of each agent. Considering the impacts of event-triggered strategy and external disturbances, the event-based sliding mode controller is introduced in this paper, which ensures the sliding-mode bands can be reached in finite time and the aim of robust consensus is achieved. Numerical simulation verifies the effectiveness of the proposed method.