ABSTRACT This article is aimed at solving leader-following consensus problem with an event-based sliding mode controller. The proposed control technique is partitioned into two parts – a finite time consensus problem and an event-based control mechanism. Leader-following heterogeneous multi-agents of first order having inherent nonlinear dynamics have been analysed to demonstrate efficacy and robustness of the proposed controller. In the first part, states of the follower agents have been attempted to be kept in consistence with those of the virtual leader using sliding mode control. In the second part, an event-based implementation of the control law has been incorporated to minimise the computational load on, and energy expenditure of the computational device equipped with the agents, while ensuring that the desired closed-loop performance of the system is not compromised. The advantage of using such a scheme, i.e. an event-based sliding mode controller, lies in the robustness capabilities of sliding mode controller and reduced computational expense of event-based mechanism. Numerical simulations and mathematical foundations ascertain the effectuality of the controller proposed herein.

中文翻译：

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具有基于事件的滑模控制的一阶非线性异构多智能体系统的共识

摘要本文旨在使用基于事件的滑模控制器解决领导者跟随共识问题。所提出的控制技术分为两部分——有限时间一致性问题和基于事件的控制机制。已经分析了具有固有非线性动力学的一阶领导者跟随异构多智能体，以证明所提出的控制器的有效性和鲁棒性。在第一部分中，已经尝试使用滑动模式控制使跟随者代理的状态与虚拟领导者的状态保持一致。在第二部分中，基于事件的控制律实现已被纳入，以最大限度地减少配备代理的计算设备的计算负载和能量消耗，同时确保系统所需的闭环性能不会受到影响。使用这种方案的优点，即基于事件的滑模控制器，在于滑模控制器的鲁棒性能力和基于事件机制的减少的计算开销。数值模拟和数学基础确定了本文提出的控制器的有效性。