论文标题
多领导者编队跟踪的动态共识与规定的收敛时间
Dynamic consensus with prescribed convergence time for multi-leader formation tracking
论文作者
论文摘要
这项工作解决了一组参考信号周围的一组追随者自动移动机器人的分布式编队跟踪问题。参考信号由多个领导者位置的几何中心组成。这项工作的主要贡献是用于参考信号的新型调制分布式虚拟观察者（MDVO）。此外，提出的MDVO基于具有规定收敛时间的精确动态共识算法。此外，我们提供了模拟示例，展示了该建议的两个不同的应用程序方案。
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.
