Transformation control for the formation of multiple cruise missiles

For the satisfaction and requirement of the cooperative engagement capability for multiple cruise missiles, a formation transformation control scheme was proposed to solve the intermediate collision within the whole flight formation system during the formation change. The limitation of missiles maneuver was considered and the avoidance of the intermediate collision was achieved by two works: one was the designing of the model predictive control law based on local kinetic model which evolved all the neighboring individuals; the other was the approach that deconstructed the formation transformation into a series of sub-formations with easier implementations. A contrastive simulation where a team of seven missiles changed their formation from a regular hexagon into a straight line shows that the proposed scheme can make the transformation smooth and reliable.