Distributed Adaptive Time-Varying Output Formation Tracking for Heterogeneous Small Fixed-Wing UAVs and Nonholonomic UGVs Under Switching Directed Topologies

This paper investigates time-varying output formation (TVOF) tracking for heterogeneous small fixed-wing unmanned aerial vehicles (UAVs) and nonholonomic unmanned ground vehicles (UGVs). The small fixed-wing UAVs operate in three-dimensional space, and the UGVs move on a two-dimensional plane, leading to heterogeneous dynamics with nonholonomic constraints, asymmetric velocity constraints, and input saturation. To address these challenges, distributed adaptive control protocols are developed under switching directed communication topologies. Unlike existing TVOF tracking methods that require global information, the proposed protocols do not rely on the upper bound of the leader’s unknown input or the eigenvalues of the Laplacian matrix. A constructive parameter-selection algorithm is provided, and the closed-loop stability is established using Lyapunov theory. Numerical simulations involving heterogeneous UAV-UGV formations verify that the proposed method achieves TVOF tracking under random disturbance while satisfying the prescribed motion constraints.