Abstract
The paper deduces the state equation of line-of-sight angle based on the relative motion equation between the host and the wing plane. On this basis, a Formation-keeping controller is designed with variable structure control strategy, which controls the line-of-sight angle between the host and the wing man in a certain setting, in order to ensure that multiple UAVs fly in a fixed formation without collision. Fixed values are used to achieve the goal of UAV flying in a fixed formation. The effectiveness of the controller is proved in the framework of Lyapunov stability theory. The simulation results show that the designed controller can control the line-of-sight angle at a fixed value, and is robust to maneuvering and disturbance, thus achieving the goal of UAV flying in a fixed formation.
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