The Formation Control Based on the Direction Coordination for Multiple Hypersonic Vehicles

In this paper, a formation strategy based on the direction coordination and consistency of velocity and the optimization of the initial states is introduced for the formation of multiple hypersonic vehicles. Firstly, considering the mode of leader-follower, a two-dimensional controller is designed based on the dynamic model of hypersonic vehicle, which could realize the consistency of flight path angle and azimuth angle between followers and leader. Secondly, the initial states of the vehicles and the control parameters of the controller are taken as optimization variables, and the deformation of the formation during the whole flight is designed as the objective function. Finally, the combination of the PSACO (particle swarm ant colony optimization) algorithm and the SQP (sequential quadratic programming) algorithm is used to solve the optimization model. The simulation results show that the multiple hypersonic vehicles can achieve better formation flight based on the above methods.