Method for determining wing plane control instruction in unmanned aerial vehicle formation and terminal equipment

The invention is suitable for the technical field of unmanned aerial vehicle control, and provides a method for determining a wing aircraft control instruction in an unmanned aerial vehicle formation and terminal equipment, and the method comprises the steps: obtaining the intermediate state quantity of a lead aircraft and a wing aircraft under the action of a control quantity according to a motion model during the flight of the unmanned aerial vehicle formation and the pre-defined initial state quantity of the lead aircraft and the wing aircraft; according to the intermediate state quantities of the lead aircraft and the wing aircrafts, state errors of the wing aircrafts relative to the lead aircraft are calculated; performing linguistic variable division on a predefined state error discourse domain and a control instruction error discourse domain to obtain a state error linguistic variable set and a control instruction error linguistic variable set; determining a control instruction fuzzy constraint accordi