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arXiv · 2206.11608

Dynamic consensus with prescribed convergence time for multi-leader formation tracking

Rodrigo Aldana-López·David Gómez-Gutiérrez·Rosario Aragüés·Carlos Sagüés
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Abstract

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.

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Rodrigo Aldana-López, David Gómez-Gutiérrez, Rosario Aragüés, Carlos Sagüés. 2022-06-23. Dynamic consensus with prescribed convergence time for multi-leader formation tracking. https://doi.org/10.1109/lcsys.2022.3181784

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