doi:10.1109/LCSYS.2022.3181784engAldana-López, R.Gómez-Gutiérrez, D.Aragüés, R.Sagüés, C.Dynamic consensus with prescribed convergence time for multi-leader formation trackingART-2022-129534This 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.2022http://zaguan.unizar.es/record/12978510.1109/LCSYS.2022.3181784http://zaguan.unizar.es/record/129785oai:zaguan.unizar.es:129785IEEE Control Systems Letters 6 (2022), 3014-3019All rights reservedhttp://www.europeana.eu/rights/rr-f/info:eu-repo/semantics/openAccess