A Virtual Vehicle Approach to Underway Replenishment
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.
KeywordsMobile Robot Gain Matrice Practical Stability Leader Vehicle Ultimate Boundedness
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