针对集中式编队法弊端及重构简捷化考虑,基于跨临界分岔变种形式提出了一种分布式群系统编队法,可使群系统在有限感知信息条件下自组织无碰撞地实现期望编队。该法通信压力低、计算资源省、鲁棒性高、扩展性好、柔性强,核心优势在于重构时仅需调节少量分岔参数便可简捷地调整切换构型。该法基于人工势场技术主要分三部分:基于跨临界分岔变种形式构造全局有序汇聚势场,基于Morse势构造成员间避碰势场及速度依赖型耗散机制。通过可行性验证及特性仿真,验证了方法的有效性和优越性。分析表明,将该法对应不同平台特征进行相应改造,可较方便地用来实施诸如小卫星群等飞行器群系统的编队任务。 Aiming at the disadvantages of centralized formation method and the simplification of reconstruction, a distributed group system formation method is proposed based on the transcritical bifurcation variant, which enables the group system to realize the expected formation without collision under the condition of limited perception information. The method has the advantages of low communication pressure, low computational cost, high robustness, good scalability and flexibility. The core advantage is that only a few bifurcation parameters can be adjusted during the reconstruction so that the switching configuration can be simply and easily adjusted. The method based on artificial potential field is mainly divided into three parts: based on the transcritical bifurcation variant form the global orderly convergent potential field, based on the Morse potential structure member collision avoidance potential field and speed-dependent dissipation mechanism. The feasibility and superiority of the method are verified by feasibility verification and character simulation. The analysis shows that the corresponding modification of the method to different platform features can be more conveniently used for formation tasks of aircraft group systems such as small satellite constellations.