Dynamic Consensus With Prescribed Convergence Time for Multileader Formation Tracking

被引：13

作者：

Aldana-Lopez, Rodrigo ^{[1
,2
]}

Gomez-Gutierrez, David ^{[3
,4
]}

Aragues, Rosario ^{[1
,2
]}

Sagues, Carlos ^{[1
,2
]}

机构：

[1] Univ Zaragoza, Dept Informat & Ingn Sistemas, Zaragoza 50018, Spain

[2] Univ Zaragoza, Inst Invest Ingn Aragon I3A, Zaragoza 50018, Spain

[3] Intel Tecnol Mexico, Intel Labs, Zapopan 45019, Mexico

[4] Inst Tecnol Jose Mario Molina Pasquel y Henriquez, Unidad Acadern Zapopan, Zapopan 45019, Mexico

来源：

IEEE CONTROL SYSTEMS LETTERS | 2022年 / 6卷

关键词：

Robots; Convergence; Observers; Protocols; Heuristic algorithms; Real-time systems; Indexes; Distributed control; dynamic consensus; leader-follower; prescribed-time convergence; ORDER MULTIAGENT SYSTEMS; COORDINATION;

D O I：

10.1109/LCSYS.2022.3181784

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This letter 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 letter'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.

引用

页码：3014 / 3019

页数：6

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