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

TL;DR

This paper introduces a novel modulated distributed virtual observer with a dynamic consensus algorithm that guarantees prescribed convergence time for multi-leader formation tracking in mobile robots.

Contribution

It proposes a new MDVO based on an exact dynamic consensus with prescribed convergence time, enhancing formation tracking accuracy and speed.

Findings

Simulation results demonstrate effective formation tracking.

The proposed method guarantees convergence within a preset time.

Applicability shown in different multi-robot scenarios.

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.