@conference {TSCHPAJOcdc06, title = {Cascaded lemma for set-stable systems}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2006}, month = {December}, address = {San Diego, USA}, abstract = {

A previous result about uniform global asymptotic stability (UGAS) of the equilibrium of a cascaded time-varying systems, is here also shown to hold for closed (not necessarily compact) sets composed by set-stable subsystems of a cascade. In view of this result an optimal control allocation approach is discussed.

}, keywords = {Robotics}, author = {J. Tsonnas and A. Chaillet and E. Panteley and T. A. Johansen} } @conference {CHPAmtns06, title = {Stability of sets for nonlinear systems in cascade}, booktitle = {MTNS 2006}, year = {2006}, month = {July}, address = {Kyoto, Japan}, abstract = {

The stability of (not necessarily compact) sets for nonlinear systems in cascade is addressed. It is proved that if two sets are globally asymptotically stable (GAS) for the subsystems taken separately then their cross-product is GAS for the corresponding cascade, provided that the solutions of the latter are globally bounded. In the case of a suitable growth rate of the interconnection in the state of the driven subsystem, we show that this latter requirement can be relaxed to just forward completeness of the cascade. Our results extend similar results on the stability analysis of cascaded systems and find applications in partial stability analysis and adaptive control.

}, keywords = {Robotics}, author = {A. Chaillet and E. Panteley} } @inbook {KYPACHPE06, title = {A virtual vehicle approach to underway replenishment}, series = {Lecture Notes in Control and Information Sciences}, year = {2006}, pages = {171{\textendash}189}, publisher = {Springer Verlag}, organization = {Springer Verlag}, chapter = {in Workshop on Group Coordination and Cooperative Control}, address = {Tromsoe, Norway}, 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. The virtual vehicle stabilizes to a shifted reference position/heading defined by 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 the closed-loop errors are shown to be uniformly globally practically asymptotically stable.

}, keywords = {Robotics}, author = {E. Kyrkjebo and E. Panteley and A. Chaillet and K. Pettersen} }