Trajectory planning of morphing missiles based on successive mixed-integer convex optimization
For trajectory planning of the missile with a variable sweep angle during its dive phase,a trajectory planning method based on successive mixed-integer convex optimization is proposed.In this method,the reachable set of lift and drag coefficients is used as the control constraint of missile to replace the constraint of angle of attack,the constraint of sweep angle,and the aerodynamic surrogate model,so as to avoid directly dealing with the highly nonlinear aerodynamic surrogate model in the trajectory planning problem.It is noted that the reachable set consists of two regions,which prevents it from being described by simple analytical functions.Therefore,the introduction of integer variables to represent the selection of the regions of the reachable set is proposed,which reformulates the reachable set constraint into an analytical form.Subsequently,an optimal control problem for trajectory planning of morphing missiles is established.Through redesigning the control variables,partial linearization,and convex-concave decomposition,the problem is converted into an optimal control problem with only convex constraints,which is then solved by using a successive mixed-integer convex optimization algorithm.Simulation results show that the proposed algorithm can reliably compute the optimal flight trajectory that strictly satisfies all constraints,and significantly enhances the terminal velocity of morphing missiles compared to standard configuration missiles.
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