Formation Control of Fixed-wing Unmanned Aerial Vehicles with Input Constraint

The formation control of fixed-wing unmanned aerial vehicle (UAV) is addressed in this paper considering the6 DOFmodel. We propose a nonlinear controllerthat can achiew the UAVs formation control with the input constraint problem based on consensus algorithm. In order to avoid collision between UAVs in the process of the flight, a new algorithm is proposed to achieve close formation transformation. The practicality and efficiency of the control law are proved by simulation results thatverified by MATLAB experiment.