Work

Homogeneous Observer‐Based Affine Formation Tracking

Year: 2025

Type: article

Abstract: ABSTRACT This article addresses the control of mobile agents, termed followers, to track a time‐varying affine formation specified by a set of leaders. We present a distributed hierarchical method composed of a homogeneous high‐order sliding mode observer and a tracking controller. The observer estimates the followers' target trajectories from neighbor information in finite time and is robust to measurement noise. Compared to existing approaches, the method accommodates heterogeneous follower dynamics, maintains estimation accuracy independently of follower motion, and mitigates chattering effects. Convergence is guaranteed for both continuous‐ and discrete‐time implementations, which are supported by formal analysis and numerical simulations.

Source: International Journal of Robust and Nonlinear Control

DOI: 10.1002/rnc.70308

Authors: Rodrigo Aldana‐López, Miguel Aranda, Rosario Aragüés, Carlos Sagüés

Institutions: Intel (United States), Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional, Universidad de Zaragoza, Instituto de Investigación en Ingeniería de Aragón

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $4,270