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Distributed Reset Control for Leader-following Consensus of Nonlinear Multi-agent Systems

Guanglei Zhao, Hailong Cui*, and Zhijie Li
International Journal of Control, Automation, and Systems, vol. 20, no. 3, pp.983-991, 2022

Abstract : This paper studies the leader-following consensus problem of nonlinear multi-agent systems with directed graph. A distributed reset control protocol that has jumping changes is proposed for the purpose of improving transient consensus performance. First, the case with continuous communication between neighboring agents is considered, and the obtained results are extended to the case with asynchronous sampling, which is more practical under network environment. Then, a hybrid model consisting of both flow dynamics and jump dynamics is constructed for the closed-loop system to deal with different jump dynamics in an unified framework. Based on this model, sufficient conditions are derived for consensus analysis. Finally, numerical examples are presented to testify the effectiveness of theoretical results.

Keyword : Hybrid systems approach, leader-following consensus, nonlinear multi-agent system, reset control.

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