Distance-based Formation Control for Fixed-wing UAVs Subject to Positive Minimum Linear Velocity Constraints

In this paper, we study the distance-based fixed-wing formation control problem with positive minimum linear velocity constraints. Due to the particularity of the minimum velocity of stall for fixed-wing UAVs, the formation problem is firstly redescribed by introducing a uniform velocity constant. Then the control law under this problem is designed and stability analysis is performed, mainly using orthogonal projection matrix and time-varying scalar to adjust the velocity direction and amplitude. In the end, simulation experiments are presented to verify the effectiveness of the proposed controller.