LAUSR

Abstract This paper develops a missile formation algorithm. The general form of time-varying formation constraints in three-dimensional space for missiles is deduced, and the formation control under time-varying position constraints is transformed into constrained optimization problem. Based on discretization of trajectory and optimization of control outputs, an approach to design optimal feedback control algorithm is presented. The three degree of freedom simulation results of the missiles obtained by constraint optimization show that the formation strategy proposed in this paper is feasible in missile formation control under complex time-varying constraint.