Prescribed Performance Vector Field Guidance For Fixed-Wing Uavs Formation Path Following

Abstract This paper proposes a prescribed-performance vector field guidance law for fixed-wing UAV formation control. Unlike conventional approaches, the method combines performance transformation and evolution path functions to regulate transient and steady-state errors. By enforcing dynamic constraints on velocity and course-angle errors, it reduces oscillations while ensuring collision avoidance. Stability proofs and simulations demonstrate superior performance over baseline methods.