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Reset control for leader-following consensus of multi-agent systems.
Yi Cheng1, Wenfeng Hu2, Yuqian Guo1
1School of Automation, Central South University, Changsha, 410000, China.
ISA Transactions
|February 23, 2022
Summary
This study introduces a novel distributed reset controller for linear multi-agent systems, ensuring leader-following consensus and improving performance. The controller guarantees Zeno-freeness, crucial for hybrid system stability analysis.
Area of Science:
- Control Systems Engineering
- Networked Systems
- Robotics
Background:
- Leader-following consensus is a fundamental problem in multi-agent systems.
- Existing controllers may face challenges with transient performance and Zeno behavior.
- Directed communication topologies add complexity to consensus protocols.
Purpose of the Study:
- To develop a novel distributed reset proportional-integral consensus controller for linear multi-agent systems.
- To guarantee the Zeno-freeness property of the proposed controller.
- To analyze the consensus conditions and transient performance improvement.
Main Methods:
- Design of a distributed reset proportional-integral consensus controller.
- Modeling the closed-loop system as a hybrid system with flow and jump dynamics.
- Application of a novel Lyapunov function and hybrid system analysis techniques.
Main Results:
- The proposed controller ensures leader-following consensus in linear multi-agent systems over directed graphs.
- The Zeno-freeness property of the controller is rigorously guaranteed.
- The controller demonstrably improves the transient performance of the system.
Conclusions:
- The novel distributed reset controller effectively solves the leader-following consensus problem.
- The hybrid system analysis provides a robust framework for verifying consensus.
- The controller offers enhanced transient response, beneficial for practical applications.
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