为解决小型无人机编队保持与队形重构控制的问题，设计一款适用于编队保持和队形重构的控制器。以 小型固定翼无人机为对象，采用长机-僚机编队模式，建立相对运动关系模型，对无人机位置和姿态偏差进行分析， 分别设计作用于速度和侧向通道的控制器，通过六自由度模型仿真系统对编队性能进行测试。仿真结果表明：该算 法设计可实现编队保持和队形变换，满足性能要求。
In order to solve the control problem of formation maintenance and reconfiguration of small UAV, a controller suitable for formation maintenance and reconfiguration is designed. The small fixed-wing UAV is taken as the research object, the leader-wingman formation mode is adopted, the relative motion relationship model is established, the position and attitude deviation of the UAVs is analyzed and the controller acting on the speed and lateral channels respectively is designed. The six-degree-of-freedom model simulation system is used to test the formation performance. The simulation results show that the algorithm design can realize formation maintenance and reconfiguration, and meet the performance requirements.