Formation control of autonomous surface vessels (ASVs) is researched extensively in the last years, since it has promising applications. However very few designed strategies have been validated during real experiments. In this research, two
control methods for distributed leader-follower formation control are proposed: A Nonlinear Model Predictive Control (NMPC) method and an MPC method using Feedback Linearization (FL). These two designed methods are compared with a conventional Proportional-Integral (PI) control method. The performance of the proposed strategies is evaluated through simulations and real experiments using small-scale Roboat units. Both designed control methods outperform the conventional PI control method in simulation and real experiments.