Distributed Adaptive Parameter Cooperative Guidance Laws for Vee Formation Flight

The construction of novel guidance laws is critical for the field of unmanned vehicles navigation. Previous guidance laws assign an actual leading agent and describe the reference trajectories for agents to follow. By contrast, in this work, the distributed guidance law we proposed predetermines the time-varying formation by controlling the relative states between the following agents and the leading virtual agent in directions parallel to and orthogonal to the line-of-sight. The virtual leading agent's position is recognized by all following agents through a spanning-tree network. Theoretical prove and numerical simulation confirmed the validity of this guidance law.