Robust formation control for missiles with obstacle avoidance

This paper investigates the robust formation control for missiles with obstacle avoidance. A sliding mode surface that is asymptotically stable is firstly presented by the collision avoidance potential function and hyperbolic tangent function. Based on the sliding mode surface, a robust formation controller with obstacle avoidance is designed for missiles. To improve the convergence rate, a finite-time controller which can deal with the formation control for missiles is given using an improved sliding mode surface. Finally, the effectiveness of the designed controllers for missiles is demonstrated by the Lyapunov theory and simulation results.