A Distributed Control for Ground Target Tracking of Nonlinear Unmanned Aerial Vehicles Formation

Abstract

This paper investigates a circular formation control strategy for multiple unmanned aerial vehicles (multi-UAV) formation for ground moving target tracking. Each UAV obtains the observation value of target information through sensors and exchanges data with its neighbors. Since the formation cannot get the parameter of the target directly, we proposed a distributed error observer. A new guidance law based on the error value obtained has been designed, and it was proved through the interconnection system that it was consistent with Lyapunov stability. Finally, a simulation example is used to illustrate the effectiveness of the proposed guidance law.