Three-Dimensional Formation Flight with Generalized Explicit Guidance

In this study, a three-dimensional formation flight guidance approach is developed. The proposed method has three aspects to be considered: the formation geometry, the virtual leader, and the tail-chase engagement. Upon deciding on the formation geometry, virtual leaders that are rigidly attached to the leader are generated accordingly. Afterwards, the virtual leaders are pursued in tail-chase fashion by the followers. The trajectory tracking of the virtual leaders is accomplished by the so-called generalized vector explicit guidance, which controls the three-dimensional acceleration vector of the followers. The arrowhead formation with one leader and four followers is simulated and the resulting performance is discussed.