Proceedings of the 5'h WorldCongress on Intelligent Control

and Automation, J une 15-19,2004, Hangzhou, P.R. China

UAV Tight Formation Flight Modeling
And Autopilot Designing
Bin Zuo, Yun'an Hu
Department of Automatic Control, Naval Aeronautical Engineering Institute, Yantai 264001
Abstract -To solve the problem of UAV formation flight, the paper presents an approach of modeling tight formation flight of
Unmanned Aerial Vehicle, and a formation hold autopilot design. I n close formation, the aerodynamic forces and moments of the wing
UAV are greatly changed, because of the effect of Vortex of the adjacent lead UAV. Full state feedback is selected, and aerodynamic
interference is modeled as feedback nonlinearities. A new wake robust formation hold autopilot is designed, which can keep the optimal
configuration of formation.
Keywords -UAV, Tight Formation Flight, Autopilot
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