Flatness Based Formation Control of Non Holonomic Vehicle

In this paper, we use a different viewpoint of flatness which uses a coordinate change based on a Lie-Backlund approach to equivalence in developing flatness-based feedback linearization and its application to the design of controller for formation of Non Holonomic Vehicle. The flat output provides the framework to derive the endogenous feedback compensator, which can result in a constant linear controllable system, for a given nonlinear system. The key contribution of paper is to propose and develop a novel strategy of flatness-based feedback linearization to enhance the stability of formation of the Non Holonomic Vehicle. The proposed flatness-based controller is validated using MATLAB simulation. The simulation results shows that the individual systems maintains the specified geometric pattern and tracks the desired trajectory.