165024 20260418110659.0 doi 10.1002/rnc.70308 sideral 146478 ART-2025-146478 eng Aldana-López, Rodrigo Universidad de Zaragoza (orcid)0000-0001-6939-6523 Homogeneous Observer‐Based Affine Formation Tracking 2025 Access copy available to the general public Unrestricted This 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. info:eu-repo/grantAgreement/ES/DGA/T45-23R info:eu-repo/grantAgreement/ES/MICINN-AEI-FEDER/PID2021-124137OB-I00 info:eu-repo/grantAgreement/ES/MICIU/PID2024-159279OB-I0 info:eu-repo/semantics/openAccess by https://creativecommons.org/licenses/by/4.0/deed.es info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Aranda, Miguel Universidad de Zaragoza (orcid)0000-0002-4556-7209 Aragüés, Rosario Universidad de Zaragoza (orcid)0000-0001-9458-6257 Sagüés, Carlos Universidad de Zaragoza (orcid)0000-0002-3032-954X 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 5007 075 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ciencia Comput.Intelig.Ar 36, 5 (2025), 2692-2704 Int. j. robust nonlinear control International journal of robust and nonlinear control 1049-8923 547345 http://zaguan.unizar.es/record/165024/files/texto_completo.pdf Versión publicada 2577140 http://zaguan.unizar.es/record/165024/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:165024 articulos driver 2026-04-18-11:05:08 ARTICLE