Finite-time Formation Reconfiguration of Multiple Spacecraft with Collision Avoidance Problems

In this paper, the problem of finite-time formation reconfiguration control for a platoon of multiple spacecraft is discussed. Each spacecraft is in the presence of external disturbances. By employing a novel predesigned desired velocity and an elaborate adaptive law, a finite-time coordination control scheme is presented to drive all the spacecraft to implement the formation reconfiguration task in unknown obstacle environments without using accurate mathematical model. Finally, numerical example shows that the proposed algorithm successfully implements the formation reconfiguration task and achieves high control accuracy without breaking any priority rules.