A Virtual Motion Camouflage Approach for Cooperative Trajectory Planning of Multiple UCAVs

Table 1

State and control constraints of UCAVs.

Item	Minimum value	Maximum value
Flight altitude (m)	𝑧min=200	𝑧max=8000
Airspeed (m/s)	𝑉min=60	𝑉max=300
Flight-path angle (deg)	𝛾min=−89	𝛾max=89
Roll angle (deg)	𝜇min=−80	𝜇max=80
Tangential load factor (g)	𝑛𝑥,min=−0.725	𝑛𝑥,max=0.91
Normal load factor (g)	𝑛𝑧,min=−3.2	𝑛𝑧,max=8
Roll angle rate (deg/s)	𝜇̇min=−30	𝜇̇max=30
Rate of change of tangential load factor (g/s)	𝑛̇𝑥,min=−0.2	𝑛̇𝑥,max=0.2
Rate of change of normal load factor (g/s)	𝑛̇𝑧,min=−2	𝑛̇𝑧,max=2