[1]Systems Engineering Research Institute China State Shipbuilding Corporation Beijing 100094 China;
[2]Delft Center for Systems and Control (DCSC) TU Delft 2628CD Delft The Netherlands;
[3]School of Mathematics Southeast University 211189 Nanjing China and also with DCSC TU Delft 2628CD Delft The Netherlands;
[4]German Aerospace Center (DLR) Institute of Space Systems D-28359 Bremen Germany and was with Politecnico di Milano Italy and also with DCSC TU Delft The Netherlands;
ArduPilot; adaptive formation control; Fixed-wing UAVs; software-in-the-loop simulations;