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

Autor:	Aldana-López, Rodrigo, Gómez-Gutiérrez, David, Aragüés, Rosario, Sagüés, Carlos
Rok vydání:	2022
Předmět:	Electrical Engineering and Systems Science - Systems and Control Computer Science - Multiagent Systems Mathematics - Optimization and Control
Zdroj:	R. Aldana-Lopez, D. Gomez-Gutierrez, R. Araguess and C. Sagues, "Dynamic Consensus With Prescribed Convergence Time for Multileader Formation Tracking," in IEEE Control Systems Letters, vol. 6, pp. 3014-3019, 2022
Druh dokumentu:	Working Paper
DOI:	10.1109/LCSYS.2022.3181784
Popis:	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. Comment: Please cite the publisher's version. For the publisher's version and full citation details see: https://doi.org/10.1109/LCSYS.2022.3181784
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2206.11608 Zobrazit plný text záznamu View this record from Arxiv