Finite-time control of formation system for multiple flight vehicles subject to actuator saturation

This paper investigates the problem of formation tracking control for multiple flight vehicle (MFV) system considering actuator saturation constraints.First,the formation tracking control model is established.Then,the problem of formation control of the MFV system is converted to the convergence of a dynamical system,which is obtained by using the differential geometry theory.A class of saturation functions is introduced,and on this basis a second-order finite-time formation control protocol is developed.With the help of the homogeneous theory and Lasalle's invariance principle,it is theoretically proved that the designed formation protocol could complete the formation task in finite time,and the control inputs are shown to remain within their available actuating limits.Finally,simulations are performed to verify the effectiveness of the scheme.