Dynamic consensus with prescribed convergence time for multi-leader formation tracking
Systems and Control
2022-06-24 v1 Multiagent Systems
Systems and Control
Optimization and Control
Abstract
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.
Cite
@article{arxiv.2206.11608,
title = {Dynamic consensus with prescribed convergence time for multi-leader formation tracking},
author = {Rodrigo Aldana-López and David Gómez-Gutiérrez and Rosario Aragüés and Carlos Sagüés},
journal= {arXiv preprint arXiv:2206.11608},
year = {2022}
}
Comments
Please cite the publisher's version. For the publisher's version and full citation details see: https://doi.org/10.1109/LCSYS.2022.3181784