Two Degree of Freedom Controller Design for Leader-to-Formation

This paper discusses feedback control design problem for leader-to-formation systems which could include one leader and one follower. The performance of the leader is measured by energy of the error between its output and reference while the performance of the follower is measured by the energy of the error between the distance from the leader to the follower and the desired distance. In this paper, a sub-optimal two degree of freedom (2DOF) control design method is presented by applying H₂ and Hinfin control design. Upper bounds of the cost functions for both of leader and follower are minimized. Numerical example illustrates that the presented controllers have good performance in disturbance rejection and formation control.