Abstract: The parameters of traditional feedback linear formation controller maybe uncertain due to the influence of road humidity． Aiming at the disadvantage，this paper designs an adaptive feedback linear controller based on variable estimation． And the accuracy of relative distance is improved． In order to verify the effectiveness of the algorithm，simulation experiments are taken by using Matlab /Simulink． The experimental results show that the adaptive control method is valid and it has shorter adjustment time and better interference immunity than the traditional feedback linear control method． And research conclusion has certain application value in intelligent transportation in the future．

Key words: leader-follower, formation control, adaptive control, simulation experiment