Study on missiles formation reconfiguration optimized trajectory generation and control

The methods of missiles formation reconfiguration optimal trajectory generating and control are described. Given a formation of intelligence missiles, an initial configuration, a final configuration, a time for reconfiguration and a set of inter- and intra- missile constraint, reconfiguration trajectory generation and control problems focused on determining and controlling a normal input trajectory for each intelligence missile such that every intelligence missile can fly as the expected optimal trajectory while satisfying all the sets of constraint. In this paper, solving the optimal trajectory generation problem by posing the input as polynomial form and analyzing the symbolic reachability computation based on the quantifier elimination theory arc interested. A combination of proportion and differential control with the position error is used in the design of the missiles formation controller used to track the optimal transfer trajectory.