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Performance Improvement in Leader-Following Consensus of Multi-Agent Systems via MPC-Based Reset Output Feedback Control
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DOI：10.1016/j.isatra.2026.04.040.png)
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Abstract
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• A new MPC-based reset dynamic output feedback controller is designed to achieve leader-following output consensus of linear multi-agent systems in a distributed manner, with improved transient performance. • The gain matrices of the base dynamic output feedback controller, without reset action, are designed to ensure the desired behavior of the system outputs and leader-following output consensus of the closed-loop multi-agent system, using D-stability concept. • An auxiliary timer variable is used in a distributed way for time regularization in order to exclude Zeno behavior. • The closed-loop system is transformed into a hybrid structure, comprising both discrete jump dynamics and continuous flow dynamics. • The problem is reformulated to a LMI optimization problem. • The after reset values are evaluated by solving optimization problem at each reset time.
Keywords:
MPC-based control
reset control
multi-agent systems
output consensus
linear matrix inequalities
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