Coordinated formation control of multiple nonlinear systems

A general method of controller design is developed for the purpose of formation keeping and reconfiguration of nonlinear systems with multiple subsystems, such as the formation of multiple aircraft, ground vehicles, or robot arms. The model consists of multiple nonlinear systems. Controllers are designed to keep the subsystems in a required formation and to coordinate the subsystems in the presence of environmental changes. A step-by-step algorithm of controller design is developed. Sufficient conditions for die stability of formation tracking are proved. Simulations and experiments are conducted to demonstrate some useful coordination strategies such as movement with a leader, simultaneous movement, series connection of formations, and human-machine interaction.