一种基于透射不变性原理的高机动编队控制方法

To address the problem that the classical affine formation control is limited by the constant constraint relation of parallel and cannot directly realize the rapid switching of the front and back triangle and front and back trapezoid formations commonly used in tactical attack and defense, a projective formation control method with higher formation maneuverability is proposed in this paper. Inspired by the principle of projective invariance in framework theory, the formation configuration is defined by the projective image and a self-stress matrix, and the collinear consistency tracking of any target formation is attained under the premise that only one pilot is added and the concavity of formation is unchanged, and the controllable degree of freedom of formation is improved. In addition, the necessary and sufficient conditions for projective localizability and transmission continuous transformation provided a theoretical guarantee for the application of the transmission formation control method. Finally, the simulation test of the offensive and defensive switching and joint switching tasks further confirmed the reliability of the control method.