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.

中文翻译：

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致动器饱和的多飞行器编队系统的有限时间控制

本文研究了考虑执行器饱和约束的多飞行器（MFV）系统的编队跟踪控制问题。首先，建立编队跟踪控制模型。然后，通过使用微分几何理论将MFV系统的编队控制问题转换为动力系统的收敛性。介绍了一类饱和函数，并在此基础上开发了二阶有限时间编队控制协议。借助齐次理论和Lasalle不变性原理，从理论上证明了所设计的编队协议可以在有限时间内完成编队任务，并且显示控制输入保持在其可用的致动范围内。最后，