Design of Arbitrary Time Convergence Controller for -th Order System

Figure 3

The trajectories in the (a) relative and (b) ground coordinates system of UAVs during rendezvous in Case 2. The arrows illustrate the initial velocities error in (a) and illustrate initial velocities in (b). The green and blue cubes depict the expected formation at the prescribed time and the terminal time, respectively. Note: the arrows in (a) are lengthened three times for clear visualization and the length of arrows in (b) equals to the speed.

(a)

(b)