A Multi-phase hp-adaptive Radau Pseudospectral Method and its Application to Formation Optimal Control

In view of the formation combat optimal control problem, integrated rally - keep - attack formation control algorithm is put forward to minimize the overall energy. Equations of state have been established while considering the dynamic characteristics of members, the delay of control system, and target motion features. Through decomposing the task of formation combat, three subtasks optimal control model are established respectively with each subtask characteristic. Then the optimal control model of formation combat system is formed. To resolve the different characteristics of control restrictions in each phase, this paper proposes multi-phase hp-adaptive Radau pseudospectral method to solve the energy optimal control problem and to realize autonomous switching on three subtasks. It is shown from simulation results that optimal control instruction which meet the demand of the task can be quickly obtained using this method and 7% of energy is saved.