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Erschienen in:
Controlled Invariant Distributions and Differential Properties Kapitel lesen Erstes Kapitel lesen

2017 | OriginalPaper | Buchkapitel

8. Leader–Follower Synchronisation for a Class of Underactuated Systems

verfasst von : Dennis J. W. Belleter, Kristin Y. Pettersen

Erschienen in: Nonlinear Systems

Verlag: Springer International Publishing

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Abstract

In this work, leader–follower synchronisation 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.

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Vorheriges Kapitel Emergence of Oscillations in Networks of Time-Delay Coupled Inert Systems
Nächstes Kapitel Position Control via Force Feedback in the Port-Hamiltonian Framework
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Metadaten
Titel
Leader–Follower Synchronisation for a Class of Underactuated Systems
verfasst von
Dennis J. W. Belleter
Kristin Y. Pettersen
Copyright-Jahr
2017
Buch
Nonlinear Systems

Print ISBN: 978-3-319-30356-7

Electronic ISBN: 978-3-319-30357-4

Copyright-Jahr: 2017

DOI
https://doi.org/10.1007/978-3-319-30357-4_8

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