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Paper detail

Dynamic consensus with prescribed convergence time for multi-leader formation tracking

This work addresses the problem of distributed formation tracking for a group of follower holonomic mobile robots around a reference signal. The reference signal is comprised of the geometric center of the positions of multiple leaders. This work's main contribution is a novel Modulated Distributed Virtual Observer (MDVO) for the reference signal. Moreover, the proposed MDVO is based on an exact dynamic consensus algorithm with a prescribed convergence time. In addition, we provide simulation examples showcasing two different application scenarios for the proposal.

preprint2022arXivOpen access
Rodrigo Aldana-LópezDavid Gómez-GutiérrezRosario AragüésCarlos Sagüés
Systems and Controleess.SYmath.OCMultiagent Systems
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Rodrigo Aldana-LópezDavid Gómez-GutiérrezRosario AragüésCarlos Sagüés

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