Dynamic Consensus With Prescribed Convergence Time for Multileader Formation Tracking
نویسندگان
چکیده
This work addresses the problem of distributed formation tracking for a group follower holonomic mobile robots around reference signal. The signal is comprised geometric center positions multiple leaders. work’s main contribution novel Modulated Distributed Virtual Observer (MDVO) Moreover, proposed MDVO based on an exact dynamic consensus algorithm with prescribed convergence time. In addition, we provide simulation examples showcasing two different application scenarios proposal.
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ژورنال
عنوان ژورنال: IEEE Control Systems Letters
سال: 2022
ISSN: ['2475-1456']
DOI: https://doi.org/10.1109/lcsys.2022.3181784