Leader-Follower Approach using Full-State Linearization via Dynamic Feedback

Abstract

In this work, the leader-follower control problem is solved by using full-state linearization via dynamic feedback. This approach has certain advantages over the well known input-output linearization such as no relative point selection, simple extension to n-robots formation and representation of all dynamics in case of car-like robot model. Simulation results verify the validity and limitation of these controllers by Matlab. The new 3-D robot simulator Gazebo with robot server Player is also used to verify the results