Control method for missile formation flight

In this paper, the control method for missiles formation flight in the cooperative engagement was investigated based on variable structure control (VSC), adaptive control and nonlinear dynamic inversion control theory. Under the condition that the velocity and acceleration of the leader as well as the velocity of the follower were unknown, taking the relative velocity between the leader and follower as well as the acceleration of the leader as boundary uncertainties that can be estimated, a robust control law for missiles formation was proposed based on VSC, in which only the guidance information of relative position and relative velocity between missiles was required. The boundary layer method was adopted to eliminate the system chatting, and the setting method of boundary layer thickness was discussed to guarantee the formation control precision. The missile nonlinear dynamic system was divided into three subsystems from fast to slow based on singular perturbation theory. The extern disturbance acting on the missile system was taken into account and regarded as a boundary uncertainty in slow subsystem. Then a robust autopilot was designed based on adaptive variable structure control and nonlinear dynamic inversion control theory. Simulation results show that the missile autopilot can track the formation control command and the missiles formation can be realized.