NDLI: Underactuated leader-follower synchronisation for multi-agent systems with rejection of unknown disturbances

Content Provider	IEEE Xplore Digital Library
Author	Belleter, D.J.W. Pettersen, K.Y.
Copyright Year	2015
Description	Author affiliation: Centre for Autonomous Marine Oper. & Syst., Norwegian Univ. of Sci. & Technol., Trondheim, Norway (Belleter, D.J.W.; Pettersen, K.Y.)
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.
Starting Page	3094
Ending Page	3100
File Size	1395556
Page Count	7
File Format	PDF
e-ISBN	9781479986842
DOI	10.1109/ACC.2015.7171808
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-01
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Lead Nonhomogeneous media Three-dimensional displays Jacobian matrices
Content Type	Text
Resource Type	Article

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