Distributed adaptive cooperative time-varying formation tracking guidance for multiple aerial vehicles system

Distributed adaptive cooperative time-varying formation tracking guidance problems of multiple aerial vehicles system against a maneuvering target are investigated. Different from the former results, the proposed cooperative guidance strategies are based on distributed time-varying formation tracking theories. Firstly, the leader aerial vehicle is designed to achieve interception with desired terminal attack angle, which provides a reference trajectory. The uncertain dynamic items and target's uncertain maneuver have been compensated. For the follower aerial vehicles, the distributed cooperative time-varying formation tracking guidance laws are raised. Adaptive distributed extended state observers are introduced to estimate the leader vehicle's states and input information. Then, an algorithm is shown for determining guidance parameters of cooperative guidance laws. Thirdly, the properties and the stabilities of the algorithm are discussed in detail. Finally, a simulation experiment is performed for showing the feasibility and effectiveness of achieved results.