Distributed Finite-Time Formation Tracking Control of Unpowered Vehicles
A method aiming at the formation control problem during the reentry of multi-unpowered vehicles is discussed in this paper.Based on second-order system consistency theory of virtual leader,a distributed formation keeping and control algorithm switching of adjustable assembly time is proposed by selecting opti-mal coordination variables and introducing a special transition link.The altitude of multi-vehicles are al-lowed to be changed in a certain range by using this proposed solution that considers the flight ability under the restraint of multi-vehicles formation mission and then realizes the accurate online control of the relative transverse and longitudinal range.Simulation results show that the proposed algorithm can achieve the de-sired control effect in scenarios of formation assembly and keeping,formation configuration switching and formation lateral maneuver.The algorithm takes into account the effects of the earth's curvature and rota-tion on the reentry dynamics,and can adapt to random aerodynamic coefficients and atmosphere density pulling by good robustness.
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