Dynamic Event-Triggered Sliding Mode Consensus Control for Second-Order Switched Nonlinear Multi-Agent Systems

This paper presents a novel approach to consensus control for a particular class of second-order nonlinear multi- agent systems, utilizing a dynamic event-based mechanism. In contrast to traditional event-triggered control strategies, which primarily focus on minimizing external interference and conserving energy, the proposed control protocol uniquely combines dynamic mechanisms with sliding mode control methods specifically designed for second-order systems exhibiting switched nonlinearities. Furthermore, the introduction of well-structured reference signal trajectories facilitates effective distributed control, enabling each agent to operate based on local information rather than relying on global data. This approach not only improves coordination among agents but also enhances scalability and communication efficiency within the system. A key contribution of this work is the establishment of a robust stability criterion that ensures successful consensus control across the multi-agent network, thereby improving its resilience to disturbances. The effectiveness of the proposed control strategy is validated through numerical simulations, which illustrate its capability to achieve consensus among agents while maintaining overall system stability under various conditions.