DocumentCode
2477321
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
fYear
2006
fDate
13-15 Dec. 2006
Firstpage
6016
Lastpage
6021
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2006 45th IEEE Conference on
Conference_Location
San Diego, CA
Print_ISBN
1-4244-0171-2
Type
conf
DOI
10.1109/CDC.2006.377082
Filename
4177696
Link To Document