Homogeneous Observer‐Based Affine Formation Tracking
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.
Authors
- Carlos Sagüés (ORCID: https://orcid.org/0000-0002-3032-954X)
- Rodrigo Aldana‐López (ORCID: https://orcid.org/0000-0001-6939-6523)
- Rosario Aragüés (ORCID: https://orcid.org/0000-0001-9458-6257)
- Miguel Aranda (ORCID: https://orcid.org/0000-0002-4556-7209)
Institutions
- Universidad de Zaragoza (ES)
- Centro de Investigación y Proyectos en Ambiente y Desarrollo (MX)
- Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional (MX)
Publication Details
- Journal
- International Journal of Robust and Nonlinear Control
- Published
- 2025-11-20
- DOI
- https://doi.org/10.1002/rnc.70308
- Primary Topic
- Distributed Control Multi-Agent Systems
- Type
- article
- Field-Weighted Citation Impact
- 0.00
Funders
- Banco Santander
- European Commission
- Consejo Nacional de Ciencia y Tecnología
- Universidad de Zaragoza
- Gobierno de Aragón
- European Regional Development Fund
- Agencia Estatal de Investigación
- Interreg