Trajectory Optimization for High-Speed and Long-Range Interceptor Based on Improved Adaptive hp Pseudospectral Method

Algorithm 1

The description of the proposed algorithm.

The improved adaptive hp pseudospectral method

Step 1: Select initial mesh points and collocation points .

Step 2: Solve problem by NLP solver, get the preliminary solution .

Step 3: Based on the solution obtained in Step 2, evaluate whether the solution error is greater than .

Step 4: If the result of Step 3 is no, end the iteration. Otherwise, jump to Step 5.

Step 5: Refined mesh in advance based on change rate of control, get new mesh points .

Step 6: Evaluate whether the curvature of state is greater than .

Step 7: If the result of Step 6 is yes, divide mesh interval based on the accumulation of the curvature. Otherwise, increase collocation points.

Step 8: Based on the new mesh points and collocation points, go back to Step 2 and solve again.