Cluster Cooperative Formation Control Method for Underactuated Hypersonic Vehicle
YAN Honglei1， LU Yuan2， GUO Jie1， TANG Shengjing1， LI Xiang1
1. School of Aerospace of Engineering， Beijing Institute of Technology， Beijing 100081， China；
2. Shanghai Aerospace Electronic Technology Institute， Shanghai 201109， China
Abstract：Focusing on the difficulties in formation position control caused by uncontrollable axial overload in the glide phase of a hypersonic glide vehicle, a cooperative formation control method using consistent formation control and prediction correction theory was proposed. According to the cooperative guidance architecture, the distributed cluster formation control strategy was developed based on the multi-agent consistency theory. The coordination variables were acquired using the absolute and relative positions of each aircraft in the formation, while the basic formation control commands were achieved using the dynamic inverse method. The lateral manoeuvre control command was established to adjust the formation, and the two-stage predictive correction control algorithm was applied to realize the lateral manoeuvre control of the formation. The simulation results show that the proposed method can realize formation generation and maintenance of the underactuated hypersonic vehicle cluster, and performs significant formation adjustment ability and robustness to initial position errors.
