Under the condition of strong connectivity, the formation keeping problem of missile formation based on high-order fully actuated system is studied. The time-varying controller of the system is designed for the formation tracking of missile formation and disturbance suppression by upgrading the first-order model to the second-order model and using the parametric approach. The numerical simulation experiments of the system are completed with the introduction of bounded random disturbances. The motion trajectory, position tracking error, velocity tracking error and control force output of the missile formation are analyzed, and the final steady-state error is basically stabilized within 0.1, and the control force is controlled at about 2000 N during the formation holding phase.
