多导弹三维编队控制

 多导弹编队控制可极大提高多枚导弹协同作战的效能。重点研究了多导弹编队控制涉及的2个主要问题：编队结构问题和三维编队保持控制器设计问题。提出了改进的领弹-跟随弹编队模式，结合多级分布式控制策略，解决了领弹失效时队形无法保持的问题；设计了基于相对误差的三维非线性跟随弹编队控制器，得到相应的跟踪控制律。不管领弹如何机动，跟随弹与领弹的相对距离始终为指定的期望值，同时跟随弹的速度、航向角和滚转角也能与领弹保持一致，通过仿真验证了所设计的编队控制器具有鲁棒性和稳定性。

Three-dimensional Multi-missile Formation Control

Multi-missile formation control can greatly improve the combat efficiency of multi-missiles in co-ordination. This article studies two main issues involved in formation control: the formation structure and the design of three-dimensional formation hold controller. An improved leader-follower mode is presented by employing the multi-level distributed control strategy, which solves the problem of formation-hold in case the leader experienced a failure. Furthermore, a three-dimensional nonlinear formation controller based on relative error is designed and the tracking control law is obtained. The objective is to ensure that the relative distances between the leader and the follower are close to the desired values no matter how the leader is maneuvering. The velocity, heading angle and rolling angle of the followers should also be consistent with those of the leader. Simulation results prove the proposed formation controller is robust and stable.