Finite-Time Bearing-Based Formation Maneuver Control of Fixed-Wing Uavs for Dynamic Target Enclosing

This paper proposes a bearing-based formation maneuver control scheme for multiple fixed-wing UAV s, which comprises the distributed finite-time estimators and tracking controllers, i.e., and its application in target enclosing. The desired attitude can be obtained within a finite time by a distributed finite-time attitude observer. Then, by designing the tracking control laws, all error signals in the control system can converge, and all UAVs in the formation can track the target and do an enclosing. Meanwhile, a second derivative approximator is proposed to deal with calculating derivatives for variables. Finally, simulations prove the feasibility of the proposed control scheme.