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A Virtual Vehicle Approach to Underway Replenishment

  • E. Kyrkjebø
  • E. Panteley
  • A. Chaillet
  • K.Y. Pettersen
Chapter
Part of the Lecture Notes in Control and Information Science book series (LNCIS, volume 336)

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.

Keywords

Mobile Robot Gain Matrice Practical Stability Leader Vehicle Ultimate Boundedness 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin/Heidelberg 2006

Authors and Affiliations

  • E. Kyrkjebø
    • 1
  • E. Panteley
    • 2
  • A. Chaillet
    • 2
  • K.Y. Pettersen
    • 1
  1. 1.Department of Engineering Cybernetics, Norwegian University of Science and Technology, N-7491 TrondheimNorway
  2. 2.C.N.R.S, UMR 8506, Laboratoire de Signaux et Systèmes, 91192 Gif s/YvetteFrance

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