Dynamic Consensus With Prescribed Convergence Time for Multileader Formation Tracking

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.