Sliding mode consensus control for multi-agent systems under component-based weighted try-once-discard protocol

This paper investigates the consensus problem of the multi-agent system by means of the sliding mode control (SMC) approach. For each agent, the component-based weighted try-once-discard protocol is used for scheduling the transmission of error signals via communication network to the controller. Only one node with the greatest difference at each moment can send its information through the network to the controller. Then, taking the protocol's impact into account, a token-dependent sliding mode controller is designed. Both the asymptotic stability of the closed-loop error system and the reachability of the specified sliding surface are achieved. In addition, by utilising the optimised solving algorithm, the controller gains are attained. Eventually, a simulation example proves the effectiveness of the suggested SMC approach.