Distributed Formation Control with Obstacle and Collision Avoidance for Hypersonic Gliding Vehicles Subject to Multiple Constraints

<div>Historical simulation curves: <svg height="13.9769pt" id="M577" style="vertical-align:-5.341001pt" version="1.1" viewbox="-0.0498162 -8.6359 16.0928 13.9769" width="16.0928pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M593 650H142L136 622C219 616 224 611 209 531L130 120C114 39 108 34 23 28L17 0H501C518 32 557 130 568 158L540 169C519 132 495 93 469 70C439 43 409 35 332 35C272 35 241 37 225 50C211 61 211 89 222 149L253 320H350C441 320 443 312 441 239H471L510 434H481C455 366 448 358 360 358H260L303 572C311 613 312 615 348 615H431C509 615 522 603 532 581C544 555 546 531 545 491L574 493C583 555 592 631 593 650Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.943,3.132)"><path d="M545 403C545 425 527 451 498 451C448 451 400 404 312 286L290 341C262 412 246 451 219 451C182 451 138 404 92 345L112 323C152 368 169 378 181 378C192 378 201 359 216 321L257 214C184 115 142 69 113 69C102 69 93 73 88 79S78 89 68 89C47 89 24 61 24 40C24 8 49 -12 75 -12C125 -12 175 31 271 175L312 64C330 15 357 -12 382 -12C421 -12 475 35 515 98L496 121C466 88 439 62 420 62C402 62 384 92 363 147L325 247C349 280 374 309 397 333C422 361 446 381 462 381C471 381 481 374 488 366C493 360 499 357 505 357C521 357 545 380 545 403Z"></path></g><g transform="matrix(.0065,0,0,-0.0065,13.075,5.233)"><path d="M256 606C256 635 239 657 207 657C171 657 147 619 147 593C147 563 173 543 194 543C234 543 256 573 256 606ZM233 98L216 125C191 101 156 75 139 75C133 75 132 82 139 107L214 377C226 420 224 454 198 454C169 454 98 415 31 351L46 323C81 353 110 372 116 372C129 372 126 356 121 338L57 101C31 5 47 -12 72 -12C115 -12 197 52 233 98Z"></path></g></svg> and <span class="nowrap"><svg height="13.9769pt" id="M578" style="vertical-align:-5.341001pt" version="1.1" viewbox="-0.0498162 -8.6359 15.3255 13.9769" width="15.3255pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M593 650H142L136 622C219 616 224 611 209 531L130 120C114 39 108 34 23 28L17 0H501C518 32 557 130 568 158L540 169C519 132 495 93 469 70C439 43 409 35 332 35C272 35 241 37 225 50C211 61 211 89 222 149L253 320H350C441 320 443 312 441 239H471L510 434H481C455 366 448 358 360 358H260L303 572C311 613 312 615 348 615H431C509 615 522 603 532 581C544 555 546 531 545 491L574 493C583 555 592 631 593 650Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.943,3.132)"><path d="M481 445L456 468C426 437 403 427 388 427C372 427 356 428 302 438C256 447 221 451 187 451C159 451 130 428 105 384C93 363 80 340 65 305L96 290C122 342 149 381 193 381C216 381 267 377 294 374S346 372 365 376L75 105C37 70 24 35 24 16C24 2 30 -5 35 -8C42 -8 46 -6 48 -2C58 14 75 35 90 41C102 46 116 46 147 32C200 8 267 -21 298 -21C347 -21 390 12 448 126L420 151C369 77 338 56 311 56C287 56 249 68 212 81C180 92 149 100 127 98C212 172 353 308 413 372L481 445Z"></path></g><g transform="matrix(.0065,0,0,-0.0065,12.311,5.233)"><path d="M256 606C256 635 239 657 207 657C171 657 147 619 147 593C147 563 173 543 194 543C234 543 256 573 256 606ZM233 98L216 125C191 101 156 75 139 75C133 75 132 82 139 107L214 377C226 420 224 454 198 454C169 454 98 415 31 351L46 323C81 353 110 372 116 372C129 372 126 356 121 338L57 101C31 5 47 -12 72 -12C115 -12 197 52 233 98Z"></path></g></svg>.</span></div>

International Journal of Aerospace Engineering

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Figure 8

Figure 8: Distributed Formation Control with Obstacle and Collision Avoidance for Hypersonic Gliding Vehicles Subject to Multiple Constraints 