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

Authors :: Aldana-López, Rodrigo
Gómez-Gutiérrez, David
Aragüés, Rosario
Sagüés, Carlos
Source :: R. Aldana-Lopez, D. Gomez-Gutierrez, R. Araguess and C. Sagues, "Dynamic Consensus With Prescribed Convergence Time for Multileader Formation Tracking," in IEEE Control Systems Letters, vol. 6, pp. 3014-3019, 2022
Publication Year :: 2022
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.<br />Comment: Please cite the publisher's version. For the publisher's version and full citation details see: https://doi.org/10.1109/LCSYS.2022.3181784

Subjects :: Electrical Engineering and Systems Science - Systems and Control
Computer Science - Multiagent Systems
Mathematics - Optimization and Control

Database :: arXiv
Journal :: R. Aldana-Lopez, D. Gomez-Gutierrez, R. Araguess and C. Sagues, "Dynamic Consensus With Prescribed Convergence Time for Multileader Formation Tracking," in IEEE Control Systems Letters, vol. 6, pp. 3014-3019, 2022
Publication Type :: Report
Accession number :: edsarx.2206.11608
Document Type :: Working Paper
Full Text :: https://doi.org/10.1109/LCSYS.2022.3181784

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