Title :
A virtual vehicle approach to output synchronization control
Author :
Kyrkjebø, Erik ; Pettersen, Kristin Y.
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim
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 system. The virtual vehicle is stabilized to 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 follower, and closed-loop errors are shown to be uniformly semi-globally practically asymptotically stable
Keywords :
asymptotic stability; closed loop systems; position control; position measurement; synchronisation; vehicles; asymptotic stability; closed-loop errors; leader-follower system; output synchronization control; position/heading measurements; reference velocity; virtual vehicle; Actuators; Communication system control; Control systems; Position measurement; Robot kinematics; Synchronization; Underwater tracking; Underwater vehicles; Vehicle dynamics; Velocity control;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.377082
