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

Aldana-López, R. ; Gómez-Gutiérrez, D. ; Aragüés, R. (Universidad de Zaragoza) ; Sagüés, C. (Universidad de Zaragoza)

Resumen: 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.

Idioma: Inglés

DOI: 10.1109/LCSYS.2022.3181784

Año: 2022

Publicado en: IEEE Control Systems Letters 6 (2022), 3014-3019
ISSN: 2475-1456

Factor impacto CITESCORE: 4.4 - Mathematics (Q1) - Engineering (Q2)

Factor impacto SCIMAGO: 1.687 - Control and Systems Engineering (Q1) - Control and Optimization (Q1)

Tipo y forma: Artículo (PostPrint)

Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)