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Leader–Follower Synchronisation for a Class of Underactuated Systems

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Nonlinear Systems

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 470))

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.

This work was partly supported by the Research Council of Norway through its Centres of Excellence funding scheme, project No. 223254 AMOS.

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Acknowledgments

The authors would like to thank Erjen Lefeber for the valuable discussions on and inputs to the material presented in this chapter.

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Authors and Affiliations

  1. Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), NO7491, Trondheim, Norway

    Dennis J. W. Belleter & Kristin Y. Pettersen

Authors
  1. Dennis J. W. Belleter
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  2. Kristin Y. Pettersen
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Correspondence to Dennis J. W. Belleter .

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Editors and Affiliations

  1. Department of Mechanical Engineering, Eindhoven University of Technology Department of Mechanical Engineering, Eindhoven, Noord-Holland, The Netherlands

    Nathan van de Wouw

  2. Department of Mechanical Engineering, Eindhoven University of Technology Department of Mechanical Engineering, Eindhoven, Noord-Brabant, The Netherlands

    Erjen Lefeber

  3. Department of Mechanical Engineering, Eindhoven University of Technology Department of Mechanical Engineering, Eindhoven, Noord-Brabant, The Netherlands

    Ines Lopez Arteaga

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Belleter, D.J.W., Pettersen, K.Y. (2017). Leader–Follower Synchronisation for a Class of Underactuated Systems. In: van de Wouw, N., Lefeber, E., Lopez Arteaga, I. (eds) Nonlinear Systems. Lecture Notes in Control and Information Sciences, vol 470. Springer, Cham. https://doi.org/10.1007/978-3-319-30357-4_8

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

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-30356-7

  • Online ISBN: 978-3-319-30357-4

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