Event-triggered sliding mode consensus tracking with prescribed performance for Euler–Lagrange systems

Zeyu Li and Junyong Zhai

International Journal of Systems Science, 2026, vol. 57, issue 7, 1908-1925

Abstract: Nowadays, with the development of network communication technology, remote collaborative control of robot systems for complex tasks is widely applied. This paper proposes a sliding mode control method for achieving the consensus and trajectory tracking of Euler–Lagrange systems with disturbances. To accelerate the tracking process and achieve the prescribed performance tracking control, a segmented practical sliding mode surface is proposed. The leader–follower control strategy is combined with the event-triggered condition to reduce the update frequency of the controller and the information transmission burden. With the help of the hyperbolic tangent function, the event-triggered sliding mode controller is proposed to make the finite-time establishment of practical sliding mode. The trajectory tracking errors of the leader–follower systems will converge to the prescribed tracking accuracy with the ideal tracking speed by virtue of Lyapunov stability theory. The effectiveness of the proposed method is demonstrated by a collaborative tracking example of leader–follower manipulator systems.

Date: 2026
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DOI: 10.1080/00207721.2025.2547382

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