High-order control barrier function based collision avoidance formation tracking of constrained fixed-wing aircraft

In this paper, we propose a high-order control barrier function based collision avoidance formation tracking strategy for fixed-wing aircraft systems which face both the velocity and input constraints. First, a nominal formation tracking controller is developed for multiple fixed-wing aircraft subject to both velocity and input constraints. Then, to effectively achieve collision avoidance among the aircraft and between the aircraft and obstacles, novel collision avoidance conditions based on high-order control barrier functions are derived. Finally, we utilize the control barrier function based collision avoidance conditions to construct the safe formation tracking controller by formulating a local quadratic programming problem for each fixed-wing aircraft. Simulation examples are provided to illustrate the effectiveness of the proposed controller.