Coordinated Standoff Flights for Multiple UAVs Via Second-Order Sliding Modes


This study focuses on guidance associated with coordinated standoff flight for fixed-wing uninhabited aerial vehicles against a fixed or slowly moving ground target. A novel guidance law is first proposed for a single standoff-flying vehicle. Although the proposed guidance law is quite simple, it can incorporate desired properties such that the guidance law provides smooth transfer from an approach to a standoff flight. Furthermore, the proposed guidance law along with a proposed guidance-related equation guarantees a pre-specified directional (right or left) turn at the final phase of the standoff flight. The structure of the proposed guidance law forms a sliding surface for a sliding mode approach. Coordination with other UAVs is made with a decentralized velocity control that avoids central computing. A second–order sliding mode (SOSM) is selected to develop guidance schemes. The potential of the proposed method is demonstrated through multiple UAVs' coordinated standoff flight guidance simulation where each UAV keeps a standoff position around a stationary target or a slowly moving target with coordination.

Meeting Name

2015 AIAA Guidance, Navigation, and Control Conference, MGNC 2015 (2015: Jan. 5-9, Kissimmee, FL)


Mechanical and Aerospace Engineering

Keywords and Phrases

Aviation; Fixed wings; Flight simulators; Target tracking; Tracking (position); Flying vehicles; Moving ground targets; Moving targets; Multiple UAVs; Second order sliding modes; Sliding surface; Stationary targets; Uninhabited aerial vehicle; Air navigation

International Standard Book Number (ISBN)


Document Type

Article - Conference proceedings

Document Version


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© 2015 American Institute of Aeronautics and Astronautics (AIAA), All rights reserved.

Publication Date

01 Jan 2015