A Novel Adaptive Parameter Cooperative Guidance Law for Circular Formation Flight

Creation of guidance law is of central importance for the development of unmanned vehicles. In this paper, we introduce a novel guidance law for leader free circular multiagents unmanned formation flight. Instead of using an actual leader agent, current guidance law uses a virtual leader, of which the position is known by all other agents and other agents can obtain information about the relative model of leader-follower relation from their neighbor agents. The guidance law is designed to describe the preset time-varying formation, which controls the relative states of the followers and the leader in the directions both parallel to and orthogonal to the line-of-sight, as a replacement of the reference trajectories for the agents to follow. To confirm the validity and performance of current guidance law, a numerical simulation is performed.