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A safe and rapid formation generation is of great importance for the cooperation performance of the multiple unmanned helicopters. The trajectory optimization and control is the key problem in the process of the formation generation. To achieve this goal, a novel safe formation generation strategy is proposed through trajectory optimization and tracking control. First, the rapidly-exploring random tree (RRT) algorithm is applied to obtain the initial guess to satisfy the requirement of rapid solution. Then, the Gauss pseudospectral method is used to transform the optimal control problem to the nonlinear programming (NLP) problem and the sequence quadratic programming (SQP) method is utilized to gain the optimal trajectory combined with the initial guess. Second, a finite-time sliding mode controller is proposed to ensure the finite time trajectory tracking in the presence of model parameter uncertainties and unknown external disturbances. Finally, the numerical simulation is provided to show the effectiveness of the proposed formation generation strategy for unmanned helicopters formation.

This paper develops a control method for an air-breathing hypersonic vehicle with variable geometry inlet (AHV-VGI). For the AHV-VGI, a movable translating cowl is used to track the shock on lip conditions to capture enough air mass flow, which can ensure a more powerful thrust. Compared with traditional air-breathing hypersonic vehicle with fixed geometry inlet (AHV-FGI),this AHV-VGI extends the velocity range, which is favorable to the acceleration and maneuvering flight. However, the VG causes the unknown changes of the aerodynamic forces, moment and the thrust in the meanwhile. Therefore, we firstly establish a longitudinal dynamic for AHV-VGI, which includes the uncertain changes induced by VGI. A conception of the optimal elongationdistance of translating cowl is introduced, and its estimated value is obtained by curve fitted approximation. And then, the controlprocess for AHV-VGI is divided into two subsystems. For each subsystem, a sliding mode controller is designed, and interval type-2 fuzzy logic systems (FLSs) are adopted to approximate nonlinear parts including the uncertain changes induced by VGI. Furthermore, uniformly stability of the whole system is proved by Lyapunov approach. Finally, simulation results demonstrate thatAHV have a better control performance under the condition of VGI compared to the FGI.