Cooperative Line-of-Sight (LOS) Based Control for Moving-Center Formation Flight of Multi Vehicles

This note investigates the problem of moving-center formation of multi vehicles, such that the controlled vehicles orbit around a center moving with time-varying radius along the common circle, or move along the same straight line like geese in V formation. Cooperative controllers of these two formations flying are developed for each vehicle based on neighborhood information only. Finally, the effectiveness of the proposed controller is verified by the simulation results of different missions.