Formation control based on second-order feedback linearization

Formation control using feedback linearization is developed in this paper. The purpose of the work is that the relative trajectory between follower and leader is linearized in velocity coordinate system in order to accurately control its dynamic process. Considering not all states of the leader which are necessary for complete linearization can be measured in some cases, both full state feedback and non-full state feedback are discussed for the formation control. When the relative trajectory is affected by the unmeasured states in non-full state feedback case, the bounded position error caused by the disturbance can be guaranteed and the formation controller still works well. Simulation results are presented to demonstrate the formation control performance even if the course angle of the leader is changeable.