针对领-从式飞行器编队控制问题,提出将领弹作为参照点,通过从弹对领弹的追踪,在领弹弹道坐标系下进行编队飞行控制器设计的方法。首先在惯性坐标系下定义相对运动坐标系,建立领弹与从弹的相对运动模型,将相对运动模型转化在领弹弹道坐标系下;其次,将从弹在视线坐标系的位置与领弹在惯性坐标系下的速度作为状态变量,将从弹的加速度作为控制量,结合从弹的相对位置与期望位置的误差以及领弹的速度误差,采用滑模变结构控制理论进行编队控制器设计,在误差方程中补偿领弹加速度项,趋近律系数采用指数函数;最后,选取一领弹二从弹的编队结构进行仿真验证。仿真结果表明所提出的方法能够快速精确地对期望队形进行构建和保持。

Addressing the control problem of coordinated formation control of leader-follower aircraft, we put forward a missile formation flight controller design method that take the leader aircraft as a virtual target and the missiles fly in formation according to leader's ballistic coordinate system. Firstly, define a relative motion coordinate system in the inertial coordinate frame to establish a relative motion model, which is then transformed into the leader missile's ballistic coordinate system. Secondly, take the position of the follower missile in the line-of-sight coordinate system and the velocity of the leader missile in the inertial coordinate system as state variables and take the acceleration of the follower missile as the control input and then integrate the error between the follower missile's relative position and its desired position, along with the velocity error of the leader missile to design a formation controller using sliding mode variable structure control theory. Finally, simulate and validate a formation structure comprising one leader missile and two follower missiles. Simulation results demonstrate that the proposed method can rapidly and accurately construct and maintain the desired formation.