Mohammad A. Dehghani - Department of Electrical Engineering Amirkabir University of Technology Tehran, Iran
Mohammad B. Menhaj - Department of Electrical Engineering Amirkabir University of Technology Tehran, Iran
Meysam Azimi - Department of Electrical Engineering Mazandaran University of Science and Technology Behshahr, Iran

This paper deals with the leader-follower formation control problem while measurement constraints are considered for the follower onboard sensor. From a practicalpoint of view, the case when unmanned vehicles are subject to limited sensing and communication is of particular interest. Inthis work based on the state-space representation of the leaderfollowerrelative kinematics, the formation is realized by employing a state feedback. Then, by considering the limited fieldof view in the measurement sensor, a soft-switching supervisory control strategy is proposed. This paper is distinct with respect tothe existing studies in the sensor measurements specifications, the leader-follower system formulation and proposed controlstrategy for visibility maintenance problem. Simulation results verify the effectiveness of the proposed control structure

leader-follower; formation control; supervisory control; TSK system; visibility maintenance