论文撰写总结-公式篇

描述，定义

• The dynamic model of HFVs under consideration was originally developed in [4], which can be described by
• An MSV referred to [6] can be generally represented as
• The tracking errors of flight state variables are defined as
• Define the measurement error as
• Design the following virtual control law:
• First, we will employ the following variable:
• Consider the following Lyapunov function:
• the time derivative of eV can be derived as
• Construct the switching control law Φ as
• For the ith agent, the fixed-time observer is constructed as
• Consider the following system as leader’s dynamics:
• it is possible to obtain
• Applying Lemma 6, the time derivative of Wj is
• The following finite-time differentiator is used to estimate the derivative of virtual control:
• The time derivative Var. is given as follows
• • κpq satisfies the following set
• one has(得到)

式子结合

• Then, substituting these inequalities and (7) and (8) into (6) and using k3 = ̃k3 + ̄k3, we obtain(one has)
• By utilizing [3, Lemma] and Lemma 2, we have/ we obtain/one has
• Then, substituting these two inequalities and (18)–(20) into (17) yields
• Differentiating (11) along (10), we have
• Combine with (18), (19) and (20), the following is given
• Subsequently, taking into account (13) and (19)–(21), the derivative of V1 is specified as
• In the light of (27) and Lemma 2 in [13], we have
• Substituting (40) into (39) reaches
• Substituting (45) into (41), the time derivative of LV is

重写

• Then, the Eq. can be rewritten as
• Accordingly, the models (1) are transformed as

是肯定的

• In [13], the following is positive definite

解释式子中的变量含义

• where Eq. is expressed as

证明完成

• This completes the proof.
• This completes the proof of Theorem 2.