Formation of Second-Order Multi-Agent Systems via Reset Control

This paper addresses formation control problems in second-order multi-agent systems, employing a novel formation algorithm with reset control. Inspired by reset consensus strategies, this approach integrates a dynamic reset mechanism into the formation protocol, significantly improving transient performance with faster formation convergence. By selecting an appropriate Lyapunov function, it is proven that the proposed reset control algorithm yields better performances than the standard formation control algorithms with more effective gains. The algorithm's effectiveness in enhancing transient performances is validated through simulations.