Aranda Escolástico, ErnestoColombo, Leonardo J.Guinaldo Losada, María2024-10-072024-10-072020-07-20E. Aranda-Escolástico, L. J. Colombo and M. Guinaldo, "Distributed targeted distance-based formation control for mechanical systems," 2020 European Control Conference (ECC), St. Petersburg, Russia, 2020, pp. 172-177, doi: 10.23919/ECC51009.2020.9143936.978-3-90714-402-2https://doi.org/10.23919/ECC51009.2020.9143936https://hdl.handle.net/20.500.14468/23942This paper studies the problem of distributed targeted distance-based formation control for mechanical systems. The problem consists on finding a distributed control law such that if each agent observes a convex set as a targeted set, and also the relative position of their nearest neighbors, then the agents must achieve the desired formation in these sets while its velocities are driven to zero. We study the problem for agents with a time-delay communication in the measurements of the relative positions and where the motion of each agent is determined by a Lagrangian function. Simulation are given to validate the theoretical result.eninfo:eu-repo/semantics/openAccess33 Ciencias Tecnológicasactas de congresoposition measurementcontrol systemsmechanical systemslagrangian functionsdynamicstime measurementdelay effects