| Title | A virtual vehicle approach to underway replenishment |
| Publication Type | Book Chapter |
| Year of Publication | 2006 |
| Authors | Kyrkjebo, E, Panteley, E, Chaillet, A, Pettersen, K |
| Series Title | Lecture Notes in Control and Information Sciences |
| Chapter | in Workshop on Group Coordination and Cooperative Control |
| Pagination | 171–189 |
| Publisher | Springer Verlag |
| City | Tromsoe, Norway |
| Keywords | Robotics |
| Abstract | 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. |