Reset control for leader-following consensus of multi-agent systems

This paper studies the leader-following consensus problem of linear multi-agent systems over directed communication graphs. This paper proposes a novel distributed reset proportional-integral consensus controller with guaranteed Zeno-freeness property. With the proposed reset consensus controller, the closed-loop system becomes a hybrid system consisting of the flow dynamics and jump dynamics. By adopting a novel Lyapunov function and the hybrid system analysis approach, it obtains the conditions under which consensus is achieved. It further shows that the proposed reset consensus controller helps to improve the transient performance. Finally, a numerical example is presented to illustrate the theoretical results and effectiveness.