000129801 001__ 129801 000129801 005__ 20240111114816.0 000129801 0247_ $$2doi$$a10.1016/j.automatica.2021.109750 000129801 0248_ $$2sideral$$a124592 000129801 037__ $$aART-2021-124592 000129801 041__ $$aeng 000129801 100__ $$aAldana-López, Rodrigo 000129801 245__ $$aEDCHO: High order exact dynamic consensus 000129801 260__ $$c2021 000129801 5060_ $$aAccess copy available to the general public$$fUnrestricted 000129801 5203_ $$aThis article addresses the problem of average consensus in a multi-agent system when the desired consensus quantity is a time varying signal. Although this problem has been addressed in existing literature by linear schemes, only bounded steady-state errors have been achieved. Other approaches have used first order sliding modes to achieve zero steady-state error, but suffer from the chattering effect. In this work, we propose a new exact dynamic consensus algorithm which leverages high order sliding modes, in the form of a distributed differentiator to achieve zero steady-state error of the average of time varying reference signals in a group of agents. Moreover, our proposal is also able to achieve consensus to high order derivatives of the average signal, if desired. An in depth formal study on the stability and convergence for EDCHO is provided for undirected connected graphs. Finally, the effectiveness and advantages of our proposal are shown with concrete simulation scenarios. 000129801 540__ $$9info:eu-repo/semantics/openAccess$$aby-nc-nd$$uhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/ 000129801 590__ $$a6.15$$b2021 000129801 591__ $$aENGINEERING, ELECTRICAL & ELECTRONIC$$b40 / 274 = 0.146$$c2021$$dQ1$$eT1 000129801 591__ $$aAUTOMATION & CONTROL SYSTEMS$$b12 / 65 = 0.185$$c2021$$dQ1$$eT1 000129801 592__ $$a3.796$$b2021 000129801 593__ $$aElectrical and Electronic Engineering$$c2021$$dQ1 000129801 593__ $$aControl and Systems Engineering$$c2021$$dQ1 000129801 594__ $$a11.2$$b2021 000129801 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion 000129801 700__ $$0(orcid)0000-0001-9458-6257$$aAragüés, Rosario$$uUniversidad de Zaragoza 000129801 700__ $$0(orcid)0000-0002-3032-954X$$aSagüés, Carlos$$uUniversidad de Zaragoza 000129801 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000129801 773__ $$g131 (2021), 109750$$pAutomatica$$tAUTOMATICA$$x0005-1098 000129801 8564_ $$s1108440$$uhttps://zaguan.unizar.es/record/129801/files/texto_completo.pdf$$yPostprint 000129801 8564_ $$s2694230$$uhttps://zaguan.unizar.es/record/129801/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint 000129801 909CO $$ooai:zaguan.unizar.es:129801$$particulos$$pdriver 000129801 951__ $$a2024-01-11-09:28:11 000129801 980__ $$aARTICLE