Abstract
AbstractThis paper studies the problem of multiple fixed-wing UAVs coordination Standoff tracking of target, and proposes a dual-virtual structure UAV formation Standoff tracking method. Firstly, a dual-virtual structure is designed to solve the problem of formation trajectory guidance and formation control in target tracking by designing the functions and algorithms of two virtual UAVs. Secondly, we propose that motion parameter group to represent the process of UAV formation tracking target, and the phase coordination problem between UAVs is converted into the setting of phase factor in the parameter group, which simplifies the complexity of the algorithm design. Then the formation tracking control law is given based on the consistency algorithm and the stability of the system is proved. Finally, the situation that UAV formation tracking a maneuvering target is simulated and the simulation results verify the validity of the algorithm.KeywordsMulti-UAV formationStandoff trackingDual virtual structureMotion parameter groupConsensus algorithm
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