Time-Coordinated Path Following for Multiple Agile Fixed-Wing UAVs with End-Roll Expectations

This paper presents a control strategy for multiple unmanned aerial vehicle systems(multi-UAVs)time-coordinated path following with desired endpoint roll attitudes.It utilizes the strong maneuvering capabilities of agile fixed-wing UAVs and incorporates an end-roll expectation.The strategy consists of four steps:time-coordinated control,position control,roll angle planning and attitude control.The position and attitude controllers exhibit Lyapunov exponential stability.The time-coordinated controller addresses the synchronization problem by adjusting the speed based on the coordinated state to achieve progress adjustment.The position controller operates based on the cross-track error and altitude error in the Gravity-Referenced Moving frame.By employing an optimization approach and designing a penalty function,the roll angle sequence is computed.The attitude inner-loop control operates in the SO(3)space and allows for control of large deviations.High-fidelity simulation validates the effectiveness of the proposed method,with normalized coordination error and following error controlled within 2%and 1.2m.