118061 20260212204405.0 doi 10.1016/j.automatica.2022.110320 sideral 128826 ART-2022-128826 eng Aldana-López, R. (orcid)0000-0001-6939-6523 REDCHO: Robust Exact Dynamic Consensus of High Order 2022 Access copy available to the general public Unrestricted This article addresses the problem of average consensus in a multi-agent system when the desired consensus quantity is a time varying signal. Recently, the EDCHO protocol leveraged high order sliding modes to achieve exact consensus under a constrained set of initial conditions, limiting its applicability to static networks. In this work, we propose REDCHO, an extension of the previous protocol which is robust to mismatch in the initial conditions, making it suitable to use cases in which connection and disconnection of agents is possible. The convergence properties of the protocol are formally explored. Finally, the effectiveness and advantages of our proposal are shown with concrete simulation examples showing the benefits of REDCHO against other methods in the literature. info:eu-repo/grantAgreement/ES/DGA-FSE/T45-20R info:eu-repo/grantAgreement/ES/MCIU-AEI-FEDER/PGC2018-098719-B-I00 info:eu-repo/grantAgreement/EUR/SUDOE/INTERREG/COMMANDIA-SOE2-P1-F0638 info:eu-repo/semantics/openAccess by https://creativecommons.org/licenses/by/4.0/deed.es 6.4 2022 ENGINEERING, ELECTRICAL & ELECTRONIC 46 / 274 = 0.168 2022 Q1 T1 AUTOMATION & CONTROL SYSTEMS 12 / 65 = 0.185 2022 Q1 T1 3.657 2022 Electrical and Electronic Engineering 2022 Q1 Control and Systems Engineering 2022 Q1 10.7 2022 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Aragüés, R. Universidad de Zaragoza (orcid)0000-0001-9458-6257 Sagüés, C. Universidad de Zaragoza (orcid)0000-0002-3032-954X 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 141 (2022), 110320 [9 pp.] Automatica AUTOMATICA 0005-1098 1054501 http://zaguan.unizar.es/record/118061/files/texto_completo.pdf Versión publicada 3253927 http://zaguan.unizar.es/record/118061/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:118061 articulos driver 2026-02-12-20:41:27 ARTICLE