School of Automation;
Northwestern Polytechnical University;
Xian 710000;
China;
Luoyang Optoelectro Technology Development Center;
Luovang 471000;
China;
Aviation Key Laboratory of Science and Technology on Airborne Guided Weapons;
Luoyang 471000;
China;
Collision avoidance; Finite-time control; Missile formation; Potential function; Sliding mode control;