The present application belongs to the field of
aerospace technology, and discloses a kind of multi-
glider aircraft cooperative formation control method and
system, solve the problem of underactuated of multi-
glider aircraft in high-speed reentry environment, the problem that three-dimensional configuration and collision avoidance and
obstacle avoidance are not considered in existing method and longitudinal error does not converge.Firstly, the task
scenario is defined, a three-degree-of-freedom
mass center dynamics model is established, and three-dimensional configuration, collision avoidance and
obstacle avoidance and control constraints are defined;Then, a preset time
consistency control based on preset performance is designed to realize lateral and height formation;For longitudinal error, task condition correction and leader-follower cooperative control strategy are set for same / different height scenarios respectively;Improved artificial
potential field method is used to set collision avoidance and
obstacle avoidance strategy;Finally, a control framework is constructed to calculate the instruction.The present application realizes preset
time error convergence, longitudinal configuration maintenance and collision avoidance safety, and improves the cluster capability of aircraft.