Elliptical Multi-Orbit Circumnavigation Control of UAVS in Three-Dimensional Space Depending on Angle Information Only

In order to analyze the circumnavigation tracking problem in complex three-dimensional space, this paper, we propose a UAV group control strategy, which orbit is an ellipse whose size can be adjusted arbitrarily; at same time, assigned multiple orbits for tracking. The UAVs only have angle information of target, and position target obtained by using proposed estimator, thereby establishing ideal relative velocity equation. By constructing error dynamic equation between actual velocity, space transformed into problem. Since are easily disturbed external factors during flight, sliding mode used improve robustness system. Finally, effectiveness law its unexpected situations verified simulation.