000165024 001__ 165024 000165024 005__ 20251204150239.0 000165024 0247_ $$2doi$$a10.1002/rnc.70308 000165024 0248_ $$2sideral$$a146478 000165024 037__ $$aART-2025-146478 000165024 041__ $$aeng 000165024 100__ $$aAldana-López, Rodrigo$$uUniversidad de Zaragoza 000165024 245__ $$aHomogeneous Observer‐Based Affine Formation Tracking 000165024 260__ $$c2025 000165024 5060_ $$aAccess copy available to the general public$$fUnrestricted 000165024 5203_ $$aThis article addresses the control of mobile agents, termed followers, to track a time‐varying affine formation specified by a set of leaders. We present a distributed hierarchical method composed of a homogeneous high‐order sliding mode observer and a tracking controller. The observer estimates the followers' target trajectories from neighbor information in finite time and is robust to measurement noise. Compared to existing approaches, the method accommodates heterogeneous follower dynamics, maintains estimation accuracy independently of follower motion, and mitigates chattering effects. Convergence is guaranteed for both continuous‐ and discrete‐time implementations, which are supported by formal analysis and numerical simulations. 000165024 536__ $$9info:eu-repo/grantAgreement/ES/DGA/T45-23R$$9info:eu-repo/grantAgreement/ES/MICINN-AEI-FEDER/PID2021-124137OB-I00$$9info:eu-repo/grantAgreement/ES/MICIU/PID2024-159279OB-I0 000165024 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttps://creativecommons.org/licenses/by/4.0/deed.es 000165024 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion 000165024 700__ $$0(orcid)0000-0002-4556-7209$$aAranda, Miguel$$uUniversidad de Zaragoza 000165024 700__ $$0(orcid)0000-0001-9458-6257$$aAragüés, Rosario$$uUniversidad de Zaragoza 000165024 700__ $$0(orcid)0000-0002-3032-954X$$aSagüés, Carlos$$uUniversidad de Zaragoza 000165024 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000165024 7102_ $$15007$$2075$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ciencia Comput.Intelig.Ar 000165024 773__ $$g(2025), [13 pp.]$$pInt. j. robust nonlinear control$$tInternational journal of robust and nonlinear control$$x1049-8923 000165024 8564_ $$s547345$$uhttps://zaguan.unizar.es/record/165024/files/texto_completo.pdf$$yVersión publicada 000165024 8564_ $$s2577140$$uhttps://zaguan.unizar.es/record/165024/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada 000165024 909CO $$ooai:zaguan.unizar.es:165024$$particulos$$pdriver 000165024 951__ $$a2025-12-04-14:39:32 000165024 980__ $$aARTICLE