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The current study mainly researches the problem of leader-follower based formation cooperative maintenance of fixed-wing UAV. First, the fixed-wing UAV formation with the leader-follower structure is used as the research object, and the flight dynamics model is established; the formation synergic control law is designed for the follower and the leader in the formation, especially the follower’s control law is improved to realize the state tracking control of the follower by controlling the speed and roll Angle of UAV; as stated by the master-slave formation, the distributed topology is introduced to realize the information interaction between adjacent UAVs, and on this basis, a collision avoidance strategy has been added to prevent drones from colliding with each other in the formation. Finally, the formation control algorithm and collision avoidance strategy are simulated through data simulation, and the results prove that the UAV formation can effectively complete the formation task and avoid collisions within the formation.

Research on synergic Control Algorithm and Collision Avoidance of unmanned aerial vehicle Formation