Fig 1

Leader-follower relative coordinate"

Fig 2

Formation control based on consensus theory"

Fig 3

Finite-time formation control structure with actuator saturation"

Fig 4

Communication topology of flight vehicles"

Table 1

Initial condition of flight vehicles"

Fig 5

Flight trajectories in Case 1"

Fig 6

Position track errors $|e_i|$ in Case 1"

Fig 7

Bounded control input $v_{fxi}$ in Case 1"

Fig 8

Bounded control input $v_{fyi}$ in Case 1"

Fig 9

Bounded control input $v_{fzi}$ in Case 1"

Fig 10

Origin control input $u_{fxi}$ in Case 1"

Fig 11

Origin control input $u_{fyi}$ in Case 1"

Fig 12

Origin control input $u_{fzi}$ in Case 1"

Fig 13

Velocity $V_i$ in Case 1"

Fig 14

Flight-path angle $\mathit{\theta _i}$ in Case 1"

Fig 15

Heading angle $\mathit{\psi _{V_i}}$ in Case 1"

Fig 16

Flight trajectories in Case 2"

Fig 17

Position track errors $\mathit{|e_i|}$ in Case 2"

Fig 18

Bounded control input $\mathit{v_{fxi}}$ in Case 2"

Fig 19

Bounded control input $\mathit{v_{fyi}}$ in Case 2"

Fig 20

Bounded control input $\mathit{v_{fzi}}$ in Case 2"

Fig 21

Origin control input $\mathit{v_{fxi}}$ in Case 2"

Fig 22

Origin control input $\mathit{v_{fyi}}$ in Case 2"

Fig 23

Origin control input $\mathit{{v_{fzi}}}$ in Case 2"

Fig 24

Velocity $\mathit{V_i}$ in Case 2"

Fig 25

Flight-path angle $\mathit{\theta _i}$ in Case 2"

Fig 26

Heading angle $\mathit{\psi _{V_i}}$ in Case 2"