A virtual vehicle approach to output synchronization control

Abstract

The problem of coordinated control of a leader-follower system is solved using a virtual vehicle approach to alleviate information requirements on the leader system. The virtual vehicle is stabilized to the leader, and provides a reference velocity for the synchronization control law of the follower. Only position/heading measurements are available from the leader and follower, and closed-loop errors are shown to be uniformly semi-globally practically asymptotically stable