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dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorBelleter, Dennis Johannes Wouter
dc.date.accessioned2017-03-13T10:16:12Z
dc.date.available2017-03-13T10:16:12Z
dc.date.created2016-12-15T13:55:22Z
dc.date.issued2017
dc.identifier.isbn978-3-319-30356-7
dc.identifier.urihttp://hdl.handle.net/11250/2433926
dc.description.abstractIn this work 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, velocity, acceleration, and jerk are available, while the dynamics 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 closed-loop dynamics are analysed and it is shown that under certain conditions all solutions remain bounded and the synchronisation error kinematics are shown to be integral input-to-state stable with respect to changes in the unactuated sway velocity. For straight-line motions, i.e. where the desired yaw rate and sway velocity go to zero, synchronisation is achieved. Simulation results are presented to validate the proposed control strategy.nb_NO
dc.language.isoengnb_NO
dc.relation.ispartofNonlinear Systems Techniques for Dynamical Analysis and Control
dc.relation.ispartofseriesLecture Notes in Control and Information Sciences;470
dc.titleLeader-Follower Synchronisation for a Class of Underactuated Systemsnb_NO
dc.typeChapternb_NO
dc.typePeer reviewednb_NO
dc.source.pagenumber157-179nb_NO
dc.identifier.doi10.1007/978-3-319-30357-4_8
dc.identifier.cristin1413457
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.description.localcodeThe final publication is available at Springer via http://dx.doi.org/10.1007/978-3-319-30357-4_8nb_NO
cristin.unitcode194,63,25,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedtrue
cristin.fulltextpreprint
cristin.qualitycode1


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