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Operation of the Collaborative Composite Manufacturing (CCM) System
Published on: October 1, 2019
Performance improvement in leader-following consensus of multi-agent systems via MPC-based reset output feedback
Nafiseh Saeednia1, Alireza Khayatian1
1Control and Power Department, School of Electrical and Computer Engineering, Shiraz University, Shiraz 7134851154, Iran.
ISA Transactions
|May 12, 2026
Summary
This study introduces a novel reset Model Predictive Control (MPC) strategy for leader-following consensus in multi-agent systems. The approach ensures Zeno-free hybrid control for improved transient performance.
Area of Science:
- Control Theory
- Systems Engineering
- Robotics
Background:
- Leader-following consensus is crucial for coordinated multi-agent systems.
- Existing methods often struggle with transient performance and hybrid dynamics.
- Linear multi-agent systems require robust control strategies for reliable operation.
Purpose of the Study:
- To develop a novel reset Model Predictive Control (MPC) dynamic output feedback controller.
- To address the leader-following output consensus problem in linear multi-agent systems.
- To achieve Zeno-free behavior and enhanced transient performance.
Main Methods:
- A hybrid control framework integrating continuous and discrete dynamics.
- D-stability approach using linear matrix inequalities (LMIs) for gain matrix configuration.
- Zero-crossing detection for reset instants and MPC for optimal state updates.
Main Results:
- The proposed controller achieves leader-following output consensus.
- Demonstrated superior transient performance compared to traditional methods.
- Validated through theoretical analysis and simulation results.
Conclusions:
- The reset MPC approach offers an effective solution for leader-following consensus.
- The hybrid control framework ensures Zeno-free operation and improved system dynamics.
- The method provides a systematic and robust approach for networked multi-agent systems.
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