000129785 001__ 129785
000129785 005__ 20240111114816.0
000129785 0247_ $$2doi$$a10.1109/LCSYS.2022.3181784
000129785 0248_ $$2sideral$$a129534
000129785 037__ $$aART-2022-129534
000129785 041__ $$aeng
000129785 100__ $$aAldana-López, R.
000129785 245__ $$aDynamic consensus with prescribed convergence time for multi-leader formation tracking
000129785 260__ $$c2022
000129785 5060_ $$aAccess copy available to the general public$$fUnrestricted
000129785 5203_ $$aThis 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.
000129785 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/
000129785 592__ $$a1.687$$b2022
000129785 593__ $$aControl and Systems Engineering$$c2022$$dQ1
000129785 593__ $$aControl and Optimization$$c2022$$dQ1
000129785 594__ $$a4.4$$b2022
000129785 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion
000129785 700__ $$aGómez-Gutiérrez, D.
000129785 700__ $$0(orcid)0000-0001-9458-6257$$aAragüés, R.$$uUniversidad de Zaragoza
000129785 700__ $$0(orcid)0000-0002-3032-954X$$aSagüés, C.$$uUniversidad de Zaragoza
000129785 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000129785 773__ $$g6 (2022), 3014-3019$$tIEEE Control Systems Letters$$x2475-1456
000129785 8564_ $$s1675878$$uhttps://zaguan.unizar.es/record/129785/files/texto_completo.pdf$$yPostprint
000129785 8564_ $$s3461343$$uhttps://zaguan.unizar.es/record/129785/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint
000129785 909CO $$ooai:zaguan.unizar.es:129785$$particulos$$pdriver
000129785 951__ $$a2024-01-11-09:26:44
000129785 980__ $$aARTICLE