Leader-follower Dynamic Synchronization of Surface Vessels
Original version
Elsevier IFAC Publications / IFAC Proceedings series. 2006, .Abstract
This paper introduces a dynamic leader-follower synchronization scheme for surface vessels that specifies the behavior of the follower vessels as they approach their desired position in a formation, or in a docking operation. The synchronization reference dynamics are specified in terms of a reference filter, and the synchronization closed-loop errors are shown to be uniformly globally exponentially stable with respect to the dynamic synchronization reference.