Finite-Time Consensus of Second-Order Multiagent Systems With Input Saturation via Hybrid Sliding-Mode Control

This paper addresses the finite-time consensus (FTC) issue for second-order multi-agent systems (MASs) with nonlinear disturbances. To tackle the challenges posed by increasingly complex communication environments, an innovative integral sliding-mode surface is designed using event-triggered control. Furthermore, the study explores communication constraints between the leader and followers, employing impulsive control to facilitate communication only at specific intervals. A novel hybrid integral sliding-mode control protocol is advanced for the second-order MASs, which effectively eliminates the “Zeno phenomenon” and notably reduces both communication frequency and energy consumption, thereby enhancing overall communication efficiency. Ultimately, the efficacy of the put forward protocol is verified through simulation examples including comparison experiment. Note to Practitioners—The motivation of this paper lies in the fact that the problem of limited control resources and communication bandwidth is prevalent in the practical applications of MASs. Failing to address these limitations is likely to result in performance deterioration. To further reduce communication costs and achieve greater energy savings, a hybrid sliding mode control protocol is put forward for nonlinear second-order MASs under disturbances in this paper. Theoretical deduction shows that the proposed control protocol can achieve leader-following FTC. Additionally, simulation experiments validate its superiority, both of which indicate that it can greatly reduce the number of communications in applications with certain practical significance.