Abstract
The problem of automatic tracking of ground targets is one of the important issues that UAVs need to face in task applications. The main concern of cooperative tracking is how to track a ground target and maintain the UAV formation simultaneously. In this paper, a new leader-follower formation is constructed to track a ground target. Firstly, a new leader UAV guidance law is proposed to track the ground target in the standoff mode, the stability is proved using a Lyapunov function. Secondly, new guidance laws for standoff tracking of the leader UAV and controlling of the inter-UAV angle of the circle formation are designed for follower UAVs, respectively, stabilities are also proved using two Lyapunov functions. Numerical simulation experiments show that the new leader-follower formation can track the static and moving targets well and its performance is better than the classic LVFG algorithm
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