A finite-time partial IGC approach for formation flying with collision avoidance

A finite-time stable non-linear partial integrated guidance and control algorithm is proposed for formation flying. A Lyapunov based proof for the outer loop of the integrated guidance and control philosophy is furnished to provide an a priori guarantee of a collision-free guidance trajectory. The guidance and control structure retains the advantages of the time scale separation between the translational and rotational dynamics explicitly while also preserving the integrated two loop structure. Numerical simulation is presented to show the suitability of the proposed algorithm that takes advantage of the latest results in the area of non-linear finite time control.