基于预设性能控制的多导弹编队方法

A controller is proposed for multi-missile formation guaranteeing the precision of the control and the collision avoidance among missiles. Based on the leader-follower framework, the relative motion model and the control model with cascaded form are established. The controller is designed on the basis of the prescribed performance control theory. By giving the prescribed function properly, both transient and steady-state performance of the tracking error could be maintained in the prescribed bounds, which means the relative position of the follower could be preserved within a predefined range. To avoid collusions during the forming and reconfiguring of the formation, a collision avoidance scheme is designed by adjusting the expected formation position in real time in accordance with the relative position range. The results of simulation show that the missiles can form an expected formation with the proposed controller, and the feasibility of the proposed collision avoidance scheme is verified as well.