Event‐Triggered Adaptive Integral Sliding Mode Control for Leader–Follower Consensus With Matched Disturbances

ABSTRACT This paper investigates the leader–follower consensus problem for high‐order multi‐input–multi‐output (MIMO) linear multi‐agent systems (MASs) subject to unknown matched disturbances. First, a continuous‐time adaptive integral sliding mode (AISM) control strategy is proposed under a directed topology to enhance robustness. To alleviate the communication burden while maintaining stability, an event‐triggered adaptive integral sliding mode (ET‐AISM) control strategy is further developed. Distinguishing itself from existing literature, this work incorporates a dynamic event‐triggered mechanism (DETM) featuring internal dynamic variables. Based on Lyapunov stability theory, the robust stability of the closed‐loop system is established, and the existence of a practical sliding motion (PSM) is verified. Moreover, the exclusion of the Zeno phenomenon is rigorously proven. Finally, the effectiveness of the proposed strategy is verified through the simulations on a theory system and damped mass‐spring system.