The adaptive tracking control problem of leader-following nonlinear multiagent systems (MASs) subject to unknown perturbations and limited network bandwidth is investigated by the robust adaptive event-triggered sliding-mode control method. A distributed integral sliding mode is established to realize the finite-time reachability of the states of the leader-following nonlinear MAS. An adaptive triggering control mechanism is then put forward to dynamically adjust the triggering interval, thus reducing the actuator wear and unnecessary network resource consumption. The positions and velocities of the leader-following nonlinear MAS subject to unknown external disturbances are, respectively, driven to the equilibrium point by constructing a distributed event-based robust adaptive sliding-mode protocol. Via the Lyapunov stability theory and Barbalat lemma, sufficient conditions to ensure the adaptive tracking performance are derived for leader-following nonlinear MASs. Three simulation examples to verify the efficacy of the proposed event-based robust adaptive sliding-mode controller design are presented.

中文翻译：

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具有未知扰动的非线性多智能体系统的一致性跟踪的自适应事件触发滑模控制


通过鲁棒自适应事件触发滑模控制方法，研究了受未知扰动和有限网络带宽影响的领导跟随非线性多智能体系统（MAS）的自适应跟踪控制问题。建立分布式积分滑模，实现先导式非线性MAS状态的有限时间可达性。然后提出自适应触发控制机制来动态调整触发间隔，从而减少执行器磨损和不必要的网络资源消耗。通过构建基于分布式事件的鲁棒自适应滑模协议，将受到未知外部干扰的先导非线性 MAS 的位置和速度分别驱动至平衡点。通过Lyapunov稳定性理论和Barbalat引理，导出了引导跟随非线性MAS保证自适应跟踪性能的充分条件。提出了三个仿真示例来验证所提出的基于事件的鲁棒自适应滑模控制器设计的有效性。