Three-Dimensional Prescribed-Time Pinning Group Cooperative Guidance Law

<table class="table-group" id="tab1"><tr><td><table class="table"><tr><td class="thead-hr" colspan="8"><hr/></td></tr><tr class="thead"><td class="align_left">Group</td><td class="align_center">No.</td><td class="align_center"><span style="width: 87.2603ptpx;"><svg height="12.4894pt" id="M308" style="vertical-align:-3.181499pt" version="1.1" viewbox="-0.0498162 -9.3079 87.2603 12.4894" width="87.2603pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z"></path></g><g transform="matrix(.013,0,0,-0.013,4.498,0)"><path d="M748 650H522L515 622L546 617C580 611 587 604 565 575C518 513 469 451 419 393C376 474 349 534 330 580C318 609 325 612 361 618L383 622L392 650H151L144 622C214 616 224 612 257 543L360 327C270 218 187 124 159 95C106 40 92 34 26 28L17 0H252L259 28L236 31C189 37 188 47 209 78C249 136 308 210 377 294L478 79C494 44 487 37 449 32L418 28L409 0H673L680 28C596 34 591 39 554 116L436 361C526 469 574 521 604 553C659 612 669 614 739 622L748 650Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,14.378,3.132)"><path d="M418 650H141L133 618C225 611 232 604 218 531L141 120C126 45 119 37 33 32L24 0H301L308 32C220 37 214 44 227 120L305 531C319 605 325 611 411 618L418 650Z"></path></g><g transform="matrix(.013,0,0,-0.013,18.84,0)"><path d="M95 130C70 130 46 113 46 88C46 72 54 64 59 64C93 55 121 33 121 -3C121 -41 93 -68 44 -88L55 -117C117 -98 186 -56 186 22C186 91 131 130 95 130Z"></path></g><g transform="matrix(.013,0,0,-0.013,23.984,0)"><path d="M640 650H413L406 622L438 617C475 611 483 605 463 571C422 503 346 400 296 333C264 403 215 529 199 575C189 604 191 614 228 618L262 622L271 650H30L23 622C90 615 97 609 119 553L212 321C222 295 223 285 218 259L193 127C176 39 167 33 82 28L76 0H350L356 28C266 36 257 40 275 127L303 266C308 290 314 302 328 322C396 418 454 493 498 546C551 610 565 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531C319 605 325 611 411 618L418 650Z"></path></g><g transform="matrix(.013,0,0,-0.013,54.093,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z"></path></g><g transform="matrix(.013,0,0,-0.013,60.766,0)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z"></path></g><g transform="matrix(.013,0,0,-0.013,65.264,0)"><path d="M513 0V26C475 28 448 43 413 81C379 116 277 234 258 264C301 314 319 334 344 359C383 396 404 407 473 418V443L269 434V408C317 403 320 395 299 364C280 337 250 298 228 276C213 260 195 247 165 241V712C126 699 69 682 21 677V653C82 648 87 642 87 576V104C87 40 81 32 14 26V0H237V26C173 32 165 38 165 104V215C171 217 176 218 181 218C189 218 198 212 212 196C267 129 330 49 376 -2L513 0Z"></path></g><g transform="matrix(.013,0,0,-0.013,71.765,0)"><path d="M797 0V26C739 32 732 36 732 103V296C732 394 682 449 605 449C576 449 550 437 529 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transform="matrix(.0091,0,0,-0.0091,50.58,-5.741)"><path d="M339 262C339 340 273 403 193 403S48 340 48 262S113 121 193 121S339 184 339 262ZM283 262C283 210 242 168 193 168S104 210 104 262S144 356 193 356S283 314 283 262Z"></path></g><g transform="matrix(.013,0,0,-0.013,54.595,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z"></path></g></svg></span></td><td class="align_center">Group</td><td class="align_center">No.</td><td class="align_center"><span style="width: 87.2603ptpx;"><svg height="12.4894pt" id="M310" style="vertical-align:-3.181499pt" version="1.1" viewbox="-0.0498162 -9.3079 87.2603 12.4894" width="87.2603pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z"></path></g><g transform="matrix(.013,0,0,-0.013,4.498,0)"><path d="M748 650H522L515 622L546 617C580 611 587 604 565 575C518 513 469 451 419 393C376 474 349 534 330 580C318 609 325 612 361 618L383 622L392 650H151L144 622C214 616 224 612 257 543L360 327C270 218 187 124 159 95C106 40 92 34 26 28L17 0H252L259 28L236 31C189 37 188 47 209 78C249 136 308 210 377 294L478 79C494 44 487 37 449 32L418 28L409 0H673L680 28C596 34 591 39 554 116L436 361C526 469 574 521 604 553C659 612 669 614 739 622L748 650Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,14.378,3.132)"><path d="M418 650H141L133 618C225 611 232 604 218 531L141 120C126 45 119 37 33 32L24 0H301L308 32C220 37 214 44 227 120L305 531C319 605 325 611 411 618L418 650Z"></path></g><g transform="matrix(.013,0,0,-0.013,18.84,0)"><path d="M95 130C70 130 46 113 46 88C46 72 54 64 59 64C93 55 121 33 121 -3C121 -41 93 -68 44 -88L55 -117C117 -98 186 -56 186 22C186 91 131 130 95 130Z"></path></g><g transform="matrix(.013,0,0,-0.013,23.984,0)"><path d="M640 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class="align_center"><span style="width: 59.3242ptpx;"><svg height="14.2262pt" id="M311" style="vertical-align:-3.429501pt" version="1.1" viewbox="-0.0498162 -10.7967 59.3242 14.2262" width="59.3242pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z"></path></g><g transform="matrix(.013,0,0,-0.013,4.498,0)"><path d="M475 507C475 612 440 712 326 712C139 712 23 420 23 215C23 96 58 -12 180 -12C369 -12 475 293 475 507ZM391 522C391 486 387 448 379 394H126C155 538 222 677 310 677C386 677 391 571 391 522ZM373 346C344 193 283 22 189 22C126 22 106 114 106 196C106 243 111 293 118 346H373Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,10.647,3.132)"><path d="M781 91L765 118C733 86 702 70 693 70C686 70 685 77 692 106L738 297C772 439 736 451 712 451S675 445 647 431C605 410 526 356 452 257H450L459 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d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z"></path></g><g transform="matrix(.013,0,0,-0.013,46.082,0)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,50.58,-5.741)"><path d="M339 262C339 340 273 403 193 403S48 340 48 262S113 121 193 121S339 184 339 262ZM283 262C283 210 242 168 193 168S104 210 104 262S144 356 193 356S283 314 283 262Z"></path></g><g transform="matrix(.013,0,0,-0.013,54.595,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z"></path></g></svg></span></td></tr><tr><td class="thead-hr" colspan="8"><hr/></td></tr><tr><td class="align_left" rowspan="3">A</td><td class="align_center">1</td><td class="align_center">(-15, 7.5, 2.5)</td><td class="align_center">(10, 4)</td><td class="align_center" rowspan="3">C</td><td class="align_center">6</td><td class="align_center">(-15.5, -3.9, 2.5)</td><td class="align_center">(10, -4)</td></tr><tr><td class="align_center">2</td><td class="align_center">(-13.6, 8.8, 2.8)</td><td class="align_center">(5, 2)</td><td class="align_center">7</td><td class="align_center">(-14.5, -4,3)</td><td class="align_center">(5, -2)</td></tr><tr><td class="align_center">3</td><td class="align_center">(-11.5, 12, 2.4)</td><td class="align_center">(6 ,3)</td><td class="align_center">8</td><td class="align_center">(-14.5, 2.4, 3)</td><td class="align_center">(4, -3)</td></tr><tr><td class="align_left" rowspan="2">B</td><td class="align_center">4</td><td class="align_center">(-15, -4.5, 2.4)</td><td class="align_center">(6, -5)</td><td class="align_center" rowspan="2">D</td><td class="align_center">9</td><td class="align_center">(-15, -6.1, 4)</td><td class="align_center">(6, -5)</td></tr><tr><td class="align_center">5</td><td class="align_center">(-12.5, -21.5, 2.5)</td><td class="align_center">(8, -6)</td><td class="align_center">10</td><td class="align_center">(-14, -16.5, 4)</td><td class="align_center">(8, -6)</td></tr><tr class="table-tr"><td colspan="8"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Initial conditions of simulation.</div>

International Journal of Aerospace Engineering

tab1

Table 1

Table 1: Three-Dimensional Prescribed-Time Pinning Group Cooperative Guidance Law 