Distributed integrated design for optimity and safety of hypersonic flight vehicle swarm

Abstract This paper investigates distributed optimal output consensus control for hypersonic flight vehicle (HFV) swarm under the constraint that the output must remain within a safe range. We propose a distributed integrated protocol consisting of both control and optimization parts. In the optimization part, we design a time-varying set for projection to affect the transient process of the optimization trajectory. In the control part, we design a time-varying safety set and employ correspondingly a safety controller with feedback linearization and reference tracking. In this way, the control and optimization parts can be well coordinated so that both the optimity and safety of the HFVs are achieved. We establish the convergence and safety analysis of the closed-loop system by using the small gain theorem and constructing time-varying control barrier function (CBF).