Coordinated Path-Following Control of Fixed-Wing Unmanned Aerial Vehicles

This article investigates the problem of coordinated path following for fixed-wing unmanned aerial vehicles (UAVs) with speed constraints in two-dimensional plane. The objective is to steer a fleet UAVs along path(s) while achieving desired sequenced inter-UAV arc distance. In contrast previous path-following studies, we are able through our proposed hybrid control law deal forward and angular UAVs. More specifically, makes all work at two different levels: 1) those whose errors within an invariant set (i.e., designed coordination set) level 2) other single-agent level. At level, prove that even constraints, can make sure reduce zero, distances converge value. analysis error entering provided. We develop hardware-in-the-loop simulation testbed multi-UAV system by using actual autopilots X-Plane simulator. effectiveness approach corroborated both numerical testbed.