A novel reset control approach to leader-following consensus of second-order nonlinear multi-agent systems |
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| Institution: | 1. School of Electrical Engineering and Computer Science, Washington State University, Pullman WA, USA;2. College of Information Science and Engineering, Northeastern University, Shenyang, China;3. Department of Electrical Engineering, Mathematics and Computer Science, University of Twente, Enschede, the Netherlands;1. School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China;2. School of Business Administration, Faculty of Business Administration, Southwestern University of Finance and Economics, Chengdu 611130, China;1. Department of Control Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;2. School of electrical and Electronic Engineering, Shanghai Institute of Technology, Shanghai 201499, China |
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| Abstract: | This paper investigates the leader-following consensus problem of second-order nonlinear multi-agent systems with directed graph. A novel reset control approach is proposed for the aim of improving transient consensus performance, e.g., settling time. By introducing consensus error into reset conditions, the output of reset integrator will keep the same sign with the consensus error, thus, the desired states can be compensated preferentially and the system transient performance is improved accordingly. To appropriately describe the closed-loop system with reset-induced jump dynamics, a hybrid system model consisting of both flow dynamics and jump dynamics is constructed. Based on this model, and combined with backstepping method, Lyapunov-based consensus analysis is presented under hybrid system framework. Finally, a numerical example is provided to show the effectiveness of the obtained results. |
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