Design and Flight Stability Analysis of the UAV Close Cooperative Formation Control Laws

For the high-speed flight of the UAVs cooperative formation, when a single UAV has occurred, it's necessary to exit the formation flight and to be close or super close to form new formation rapidly. A fast close cooperative formation controller is proposed to make up for lowing the fighting robustness, and overcoming the drawback of poor timeliness and analyzing the dynamic characteristic of UAV formation flight. Taking the external factors known into consideration, setting up for the longitude maneuver of nonlinear thrust vector and unsteady aerodynamic model, according to the formation velocity, flat tail rudder angle and thrust vector and pitch angle velocity as corresponding input commend signals for researching the dynamic characteristic of UAV formation flight. Meanwhile, analysis of formation flight distance error converges to a fixed value, cooperating flight stability well. The simulation results show that the controller can improve the speed of the close or super close to formation effectively, and maintain the stability of the formation flight, which provides a method of the close or super close formation flight controller design.