基于预设性能控制的多导弹编队方法

针对多导弹编队控制问题,设计了一种既能保证编队精度又能保证在队形形成或变换过程中避免弹间碰撞的编队控制器。首先，建立领弹和从弹相对运动模型,并变换为具有级联形式的编队控制模型。然后，通过合理设置性能函数参数,基于预设性能控制理论设计能够对编队跟踪误差的瞬态过程和稳态精度进行控制的编队控制器。最后，针对队形形成和变换过程中的弹间避碰问题,通过实时改变编队期望位置并结合预设性能控制器的特点,设计了主动避碰策略。仿真结果表明，采用所提的避碰策略和编队控制器,能够使得多枚导弹在避免碰撞的前提下形成良好的编队。

Multi-missile formation method based on prescribed performance control

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.