Formation control of fixed-wing UAV under state saturation constraints

Abstract

Formation control is the basis for the UAV swarm system to complete the task efficiently. During the flight of UAVs, due to the limits of maneuverability and flight performance, there is a phenomenon of state saturation, which has an extremely important impact on the stability and accuracy of UAV swarm formations. Aiming at the saturation of speed, acceleration and angular velocity in the process of UAV formation, this paper proposes a fixed-wing UAV formation flight control strategy under the condition of state saturation constraints. First, the three-degree-of-freedom dynamic model of the fixed-wing UAV with decoupling of lateral and longitudinal motion is used. The formation control law of the fixed-wing UAV under stateless saturation is designed based on the consensus algorithm. Then, considering the state saturation of the UAV's speed, acceleration and angular velocity, the feedback signal generated by the control law is constrained to adjust. The Lyapunov function is designed to prove the convergence of the formation control strategy. Finally, the effectiveness of the control strategy is verified by simulation.