TY - CHAP T1 - A virtual vehicle approach to underway replenishment Y1 - 2006 A1 - E. Kyrkjebo A1 - E. Panteley A1 - A. Chaillet A1 - K. Pettersen KW - Robotics AB -

The problem of coordinated control of a leader-follower system is solved using a virtual vehicle approach to alleviate information requirements on the leader. The virtual vehicle stabilizes to a shifted reference position/heading defined by the leader, and provides a reference velocity for the synchronization control law of the follower. Only position/heading measurements are available from the leader, and the closed-loop errors are shown to be uniformly globally practically asymptotically stable.

T3 - Lecture Notes in Control and Information Sciences PB - Springer Verlag CY - Tromsoe, Norway ER -