Leader-follower formation control with mismatched compasses

This paper deals with a leader-follower formation control problem subject to mismatched compasses. In the presence of mismatched compasses, each agent has different knowledge of the North so that they cannot share one global coordinate frame. Regarding leader-follower formation control, the agents in a team are required to form a desired spatial configuration and moreover, the whole formation is driven to a predefined location. It turns out that typical formation control algorithms do not work through the given formation errors. By means of estimation and compensation, our modified control algorithm can achieve the above goals using the estimate of the derivation of the North. In this paper, we only consider the two agent case without loss of generality. Finally, numerical simulations are presented to illustrate the obtained theoretical results.