Journal of Systems Engineering and Electronics ›› 2018, Vol. 29 ›› Issue (4): 816-822.doi: 10.21629/JSEE.2018.04.16

• Control Theory and Application • Previous Articles     Next Articles

Multiple UAVs cooperative formation forming control based on back-stepping-like approach

Liang ZHANG*(), Yi LU(), Shida XU(), Han FENG()   

  • Received:2017-06-28 Online:2018-08-01 Published:2018-08-30
  • Contact: Liang ZHANG;;;
  • About author:ZHANG Liang was born in 1980. He received his Ph.D. degree from UAVs Faculty, Air Force Engineering University in 2017. His main research interests include more unmanned aircraft collaborative control and combat management. E-mail:|LU Yi was born in 1974. He received his M.S. degree from Armament Engineering Faculty, Air Force Engineering University. His main research interests include flight path planning and mission planning. E-mail:|XU Shida was born in 1995. He received his M.S. degree from Plasma Faculty, Air Force Engineering University. His main research interest includes aerospace plasma dynamics. E-mail:|FENG Han was born in 1997. He received his B.S. degree from Aircraft Faculty, Air Force Engineering University. His major is flight vehicle propulsion engineering. E-mail:


To ensure multiple unmanned aerial vehicles (UAVs) reach stable formation quickly, a cooperative guidance law based on the back-stepping-like approach is designed in this paper. Adopting the guidance mechanism of virtue leader vehicle, the dynamic equation of tracking errors for each UAV is built. The communication interactive relationships are described based on graph theory, and the guidance law for formation reaching is obtained by the back-stepping-like approach. The formation stability is analyzed by constructing an appropriate Lyapunov function. The simulation results have shown that this guidance and control law can make each UAV converge to the trajectory of the virtue leader ultimately, and has the quicker rate of convergence and lower tracking error.

Key words: unmanned aerial vehicle (UAV), formation reaching, guidance law, stability