Leader-follower Dynamic Synchronization of Surface Vessels
Journal article
Accepted version
Permanent lenke
https://hdl.handle.net/11250/3126539Utgivelsesdato
2006Metadata
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Originalversjon
Elsevier IFAC Publications / IFAC Proceedings series. 2006, .Sammendrag
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.