Consistency Formation Maneuver Control Based on Nonlinear Dynamic Inverse

In the process of formation control, the conventional consistent formation control methods often adjust the relative position of each aircraft relative to the formation virtual center node to achieve formation maintenance and control. Its essence is to complete the formation adjustment through the track command. However, it is difficult to achieve effective control for the maneuvering formation control, such as rapid dive, jump and turn, which often appear in the formation performance, and it is easy to show the shortcomings of poor synchronization and poor consistency. Aiming at the problem of maneuvering formation, a consistent formation maneuver control method based on nonlinear dynamic inversion is proposed. Based on the establishment of a basic maneuver action database, the method uses velocity, track angle, and track azimuth as the consistency variables of formation control to realize the control of maneuvering formation. Therefore, it can effectively control the rapid maneuver on the premise of ensuring the formation stability control.