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)