Formation flight of fixed-wing UAVs based on linear quadratic affine game

In this paper we propose a model of zero-sum differential games (ZSG) to perform the formation flight of a group of three fixed-wing Unmanned Aerial Vehicles (UAVs). The dynamics of these UAVs are described in the linearized model around nominal values. For the formation strategy, the game scheme for one of the UAVs acts as the leader vehicle following a freely designed trajectory meanwhile the two vehicles just follow the leader. A reduced dimension Riccati equation is solved in order to achieve the desired formation. A numerical example is provided to prove the strategy of the formation fight.