Abstract: Multi-missile formation control can greatly improve the combat efficiency of multi-missiles in co-ordination. This article studies two main issues involved in formation control: the formation structure and the design of three-dimensional formation hold controller. An improved leader-follower mode is presented by employing the multi-level distributed control strategy, which solves the problem of formation-hold in case the leader experienced a failure. Furthermore, a three-dimensional nonlinear formation controller based on relative error is designed and the tracking control law is obtained. The objective is to ensure that the relative distances between the leader and the follower are close to the desired values no matter how the leader is maneuvering. The velocity, heading angle and rolling angle of the followers should also be consistent with those of the leader. Simulation results prove the proposed formation controller is robust and stable.

Key words: missiles, formation control, three-dimensional, leader-follower, formation flight, formation structure