Abstract
A simple nonlinear leader-following protocol, referred to as reset control, is introduced to improve the transient performance. Reset control laws are developed for multi-agent systems, in which the leader is modeled by a step signal, and the followers are characterized as double integrators. The controller structure is a proportional integrator (PI) plus Clegg integrator (CI) compensator, where the integral term is reset whenever the zero-crossing of the tracking error occurs. Tuning algorithms have been developed to guarantee both the stability and desired transient performance of the tracking error system. Numerical comparison is performed among the static, dynamic, and reset leader-following protocols, which shows favorite to the reset control.
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