TitleA virtual vehicle approach to underway replenishment
Publication TypeBook Chapter
Year of Publication2006
AuthorsKyrkjebo, E, Panteley, E, Chaillet, A, Pettersen, K
Series TitleLecture Notes in Control and Information Sciences
Chapterin Workshop on Group Coordination and Cooperative Control
PublisherSpringer Verlag
CityTromsoe, Norway

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.