Distributed Affine Formation Tracking Control of Multiple Fixed-Wing UAVs

摘要

This paper tackles distributed affine formation tracking control of a group of fixed-wing unmanned aerial vehicles (UAVs). A fixed-wing UAV's planar movement is described by a unicycle model, and the Dubins constraints are imposed to satisfy the linear and angular speed bounds. The target formation is generated from the given nominal formation by affine transformation. Its information is only known by the leaders. Globally stable control schemes for the followers are proposed, which can drive the whole team to track the moving target formation along the desired direction. This type control strategy uses the relative position information, which can be executed in each UAV's local coordinate frame distributedly. Corresponding simulations are accomplished to testify the theoretical correctness.