dc.contributor.author | Belleter, Dennis Johannes Wouter | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.date.accessioned | 2016-01-09T15:15:10Z | |
dc.date.accessioned | 2016-06-21T08:07:17Z | |
dc.date.available | 2016-01-09T15:15:10Z | |
dc.date.available | 2016-06-21T08:07:17Z | |
dc.date.issued | 2015 | |
dc.identifier.citation | American Control Conference (ACC) 2015, 2015-July:3094-3100 | nb_NO |
dc.identifier.issn | 0743-1619 | |
dc.identifier.uri | http://hdl.handle.net/11250/2393335 | |
dc.description.abstract | In this paper leader-follower synchronization is considered for underactuated followers in an inhomogeneous multi-agent system. The goal is to synchronise the motion of a leader and an underactuated follower. Measurements of the leader's position and velocity are available, while the dynamics and trajectory of the leader is unknown. The leader velocities are used as input for a constant bearing guidance algorithm to assure that the follower synchronises its motion to the leader. It is also shown that the proposed leader-follower scheme can be applied to multi-agent systems that are subjected to unknown environmental disturbances. Furthermore, the trajectory of the leader does not need to be known. The stability properties of the complete control scheme and the unactuated internal dynamics are analysed using nonlinear cascaded system theory. Simulation results are presented to validate the proposed control strategy. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | IEEE | nb_NO |
dc.title | Underactuated leader-follower synchronisation for multi-agent systems with rejection of unknown disturbances | nb_NO |
dc.type | Journal article | nb_NO |
dc.date.updated | 2016-01-09T15:15:10Z | |
dc.description.version | submittedVersion | |
dc.source.pagenumber | 3094-3100 | nb_NO |
dc.identifier.doi | 10.1109/ACC.2015.7171808 | |
dc.identifier.cristin | 1281427 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.description.localcode | Preprint version. © IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | nb_NO |