A composite formation strategy for multiple missiles

In the present paper, a composite formation strategy for multiple missiles is proposed, which is composed of the optimal formation configuration trajectory and a robust controller for trajectory tracking and formation keeping. Motion models describing multiple missiles formation configuration and keeping are established. Many constraints such as initial position, terminal position and collision avoidance are taken into account. Based on the Gauss Pseudospectral method, an optimal trajectory is designed which makes multiple missiles configurate the designated shape in the shortest time with less control energy. With the consideration of practical situations such as missiles' position error, measurement error of information between missiles and their limited control input, a robust controller is designed to track the optimal formation configuration trajectory and then keep the designated formation shape by adopting dynamic surface control. Simulation results demonstrate that by adopting the composite formation strategy, multiple missiles can configurate the designated shape in the shortest time with less control energy and then keep the formation shape in spite of much disturbance.