%0 Book Section %D 2006 %T A virtual vehicle approach to underway replenishment %A E. Kyrkjebo %A E. Panteley %A A. Chaillet %A K. Pettersen %K Robotics %X

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.

%S Lecture Notes in Control and Information Sciences %I Springer Verlag %C Tromsoe, Norway %P 171–189 %G eng %& in Workshop on Group Coordination and Cooperative Control