飞航导弹编队队形变换控制器设计

为满足飞航导弹编队协同作战中队形变换的需求，针对密集编队在队形变换时的碰撞冲突问题，考虑其低空突防背景与机动能力的限制条件，设计了基于局部模型预测控制的主动防碰撞队形保持控制器，并应用于编队队形的变换控制，提出了队形的状态转移变换方法，通过与直接变换方法的对比仿真，验证了其可行性和有效性. 

Transformation control for the formation of multiple cruise missiles

For the satisfaction and requirement of the cooperative engagement capability for multiple cruise missiles, a formation transformation control scheme was proposed to solve the intermediate collision within the whole flight formation system during the formation change. The limitation of missiles maneuver was considered and the avoidance of the intermediate collision was achieved by two works: one was the designing of the model predictive control law based on local kinetic model which evolved all the neighboring individuals; the other was the approach that deconstructed the formation transformation into a series of sub-formations with easier implementations. A contrastive simulation where a team of seven missiles changed their formation from a regular hexagon into a straight line shows that the proposed scheme can make the transformation smooth and reliable.