This paper mainly focuses on the cooperative control of formation configuration for multiple flight vehicles in the three-dimensional space. Considering the external disturbance of the system, the adaptive non-singular terminal sliding mode control law (NTSMC) is designed based on the virtual leader-follower method, which aims to ensure that each flight vehicle reaches the expected terminal position in a limited time and meet the configuration constraints. Further considering the first-order dynamic characteristic of the autopilot, a novel second-order sliding mode control (SOSMC) law is deduced with using the estimated information of sliding mode disturbance observer. The proposed control method ensures that all flight vehicles form the required space formation configuration simultaneously at a pre-designed time, and the chattering phenomenon of the sliding mode surface and acceleration response that nears the equilibrium point is effectively weaken. The stability of the proposed control law is verified by theoretical analysis and lots of mathematical simulations. The results show that the control algorithm in this paper can be used to guidance the formation controller design of multiple flight vehicles in the mid-guidance phase to some extent, and thus the cooperative flight stability of the system can be effectively improved.

中文翻译：

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考虑自动驾驶动态的多飞行器自适应滑模编队控制

本文主要研究三维空间中多飞行器编队构型的协同控制。考虑系统的外部扰动，基于虚拟领导者-跟随者方法设计自适应非奇异终端滑模控制律（NTSMC），旨在确保每架飞行器在有限的时间内到达预期终端位置，并满足配置约束。进一步考虑自动驾驶仪的一阶动态特性，利用滑模扰动观测器的估计信息推导了一种新颖的二阶滑模控制（SOSMC）律。所提出的控制方法确保所有飞行器在预先设计的时间同时形成所需的空间编队配置，有效减弱了平衡点附近滑模面和加速度响应的颤振现象。通过理论分析和大量数学仿真验证了所提出的控制律的稳定性。结果表明，本文的控制算法可以在一定程度上指导多飞行器中制导阶段的编队控制器设计，从而有效提高系统的协同飞行稳定性。