Abstract: A distributed formation control approach to formation maneuvers is presented. Based on virtual structures, formation feedback is incorporated in the formation control scheme, which increases the robustness of the formation. The decentralized controllers are designed to communicate and cooperate with their neighbours, which keep the formation during the whole process of formation maneuvers. Convergence of the system is proved theoretically. Simulation results of multiple robot system with actuator saturation show effectiveness of the proposed control strategies.

Key words: formation control, virtual structure, formation feedback, multi-robot system