Lyapunov-based triangular closed formation flight control design for multiple UAVs

In this paper the triangular close formation flight control problem is addressed based on Lyapunov theory. Firstly, the three-dimensional nonlinear mathematical model of the formation flight control based on “leader-wing” mode was established. Secondly, both the dynamic and kinematic characteristics of the formation under the effect of aerodynamic coupling were analysed. Finally, the formation-hold autopilot for the follower aircraft is designed such that the formation's geometry is maintained according to the leader's maneuvering. Simulation showed that the system is able to form and maintain a stable triangular close formation rapidly with small formation error and has a good anti-interference performance.