针对折叠式高超声速变外形飞行器的安全编队问题，考虑执行器饱和、故障及外部干扰影响，开展分层协同的编队控制方法研究。首先，基于一致性理论，将编队任务划分为位置外环和角度内环。在外环设计指定时间预设性能函数对位置编队误差进行约束，保证编队误差在指定时间内无超调地快速收敛至预设边界，确保编队过程的安全性，提高编队系统的瞬态和稳态性能；在内环基于辅助变量设计抗饱和补偿器克服控制输入饱和的影响，并将故障最小失效因子及干扰上界视为综合扰动，基于tan型障碍李雅普诺夫函数设计自适应控制律，实现对综合扰动上界的实时在线估计，完成对外环参考指令的跟踪与鲁棒稳定。其次，为减少编队过程中控制器的更新次数，设计了含有内部动态变量的动态触发条件，自适应调整触发阈值，在保证控制精度的同时显著降低通信与计算资源消耗。再次，考虑变形飞行阶段对控制器的高性能要求，针对高超声速飞行器外形变化引起的气动参数变化，分别为变外形情况下的各子系统构建局部控制律，并通过李雅普诺夫稳定理论与平均驻留时间方法，完成非平稳变外形切换子系统的整体稳定性分析与证明。最后，通过数值仿真验证安全编队控制策略的有效性。

Safe formation control for foldable hypersonic morphing vehicles is investigated in this paper. With actuator saturation, faults, and external disturbances, a two-layer cooperative formation control scheme is established. Firstly, based on consensus theory, the formation task is divided into a position outer loop and an attitude in-ner loop. In the outer loop, a prescribed-time prescribed-performance function is introduced to constrain the position error, which forces it to reach a preset boundary within the specified time without overshoot. Conse-quently, both transient and steady-state formation performance is enhanced. Secondly, in the inner loop, an anti-saturation compensator is proposed to mitigate input limits, and the minimum fault effectiveness factor together with the disturbance bound is treated as a composite disturbance. A tan-barrier type Lyapunov func-tion is employed to derive an adaptive law that estimates the bound of composite disturbance online and bounded tracking of the outer-loop command is guaranteed. Furthermore, a dynamic event-triggered mecha-nism with an internal dynamic variable is proposed. The threshold is adjusted online, which preserves control accuracy while markedly reducing communication and computation loads. Thirdly, to accommodate aerody-namic variations caused by structural morphing, local controllers are allocated to each morphing subsystem, and overall stability of the resulting non-stationary switching system is rigorously proven through Lyapunov stability theory and the average dwell-time condition. The effectiveness of the proposed scheme is verified through numerical simulations.