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                            Integrated multiple-model adaptive fault identification and reconfigurable fault-tolerant control for Lead-Wing close formation systems
Published in International Journal of Systems Science, 2018
Chun Liu, Bin Jiang, Ke Zhang
Here, the new stability derivatives  and  of changes in Wing’s drag, lift and side force resulting from perturbations need to be determined for the Mach hold, Heading hold, and Altitude hold autopilot, respectively (Pachter et al., 2001).
where  and  are lift coefficient of Lead and Wing UAV.  and  are the nominal locations in the formation geometry. aw and avt denote the lift curve slope of the wing and vertical tail, respectively. AR represents the aspect ratio of wing, η represents the aerodynamic efficiency factor of the tail, S denotes the surface area of elliptical wing, Svt denotes the area of vertical tail, b denotes the wing span, and hz denotes the height of the vertical tail. μ2 is the dimensionless correction in order to take the effects of physical viscosity into consideration and to make the mathematical deduction more precisely conform to the practical situation. It can be obviously calculated that the stability derivatives of  and  on x direction are zero.