Table 6.1 Performance evaluation without and with a synchronization strategy. 127

Table 6.2 Parameters of multiple spacecraft in formation flight. 127

Table 7.1 Parameters of F/A‐18 class aircraft. 133

Table 7.2 Vortex‐induced stability derivatives. 147

Table 7.3 Controller gains for the follower aircraft. 147

Table 7.4 F‐16 aircraft/autopilot model parameters. 150

Table 7.5 Formation controller and UDE parameters. 150

Table 8.1 Some of the symbols and parameters used. 158

Table 8.2 Some of the variables used. 158

Table 8.3 HSV ranges for each colored region on the leader UGV. 164

Table 8.4 Classification of parameters in Figure 8.15. 168

Table 8.5 Synchronization parameters for the th follower. 170

Table 8.6 PI controller gains used in simulations and experiments. 170

Table 8.7 Circular trajectory test case formation parameters. 171

Table 8.8 Details of formations , , and . 173

Table 8.9 PID controller gains used in simulations. 178

Table 8.10 Circular trajectory test case formation parameters. 179

Table 8.11 Computers used in this project. 182

Table 8.12 Circular trajectory experiment formation parameters. 184

Table 8.13 Linear trajectory experiment formation parameters. 185

Table 9.1 Nominal parameters of the helicopters ( ). 199

Table 9.2 Parameters and control gains. 202

Table 9.3 Maximal tracking and synchronization errors. 204

Table 9.4 Maximum tracking errors in elevation axis for s. 216

Table 9.5 Maximum tracking errors in pitch channel for s. 216