This paper considers a coordinated tracking problem of fixed-wing unmanned aerial vehicles (UAVs), whose kinematics is described as unicycle type with the constraints of both saturated angular speed and bounded linear velocity. A distributed velocity controller based on the consensus theory is designed such that UAVs can converge to the predefined formation and track the target vehicle, while the velocity constraints are satisfied. Moreover, due to the limitation of measurement range of sensors and communication bandwidth of UAV, an observer is designed when the information of neighbors’ velocity cannot be obtained. The stability of the closed-loop system is proved by using a technique lemma, which is developed based on the cascaded system. Finally, the results of numerical simulation compared with another algorithm show the effectiveness of the proposed algorithm, and a hardware-in-loop (HIL) simulation is carried out to prove the practical of the algorithm.

本文考虑了固定翼无人机（UAV）的协调跟踪问题，其运动学被描述为具有饱和角速度和有界线速度约束的单轮类型。设计了一种基于共识理论的分布式速度控制器，使无人机能够在满足速度约束的同时收敛到预定的编队并跟踪目标车辆。此外，由于传感器测量范围和无人机通信带宽的限制，在无法获取邻居速度信息的情况下，设计了一个观测器。利用基于级联系统开发的技术引理证明了闭环系统的稳定性。最后，