Trajectory Optimization for Micro Air Vehicle with Multiple Constraints

This study aims to solve the trajectory optimization problem of multi degree of freedom micro air vehicle (MAV) with the aim of improving its flight performance through technological innovation. A multi degree of freedom trajectory optimization (MDFTO) method with sideslip angle and angle of attack as the core control variables was proposed for multiple complex constraints in combat environment, such as terminal accuracy and overload limitation. This method can more accurately characterize and adapt the strong nonlinear, dynamic coupling and time varying characteristics of the MAV in high-speed maneuvering flight. In order to solve this MDFTO problem with multiple constraints and strong nonlinear characteristics efficiently, the hp adaptive pseudospectral method is used in this study, and is verified by simulations based on the GPOPS-II optimization platform. The algorithm has the advantages of highly accurate discrete state and control variables, efficient processing of path and terminal constraints, and adaptive adjustment of the distribution point density. GPOPS-II is able to efficiently adapt to the MDFTO method. The simulation results show that the GPOPS-II can accurately capture the MAV’s dynamic response. Its adaptive node adjustment mechanism effectively balances computational efficiency with solution accuracy, especially during flight phases where state changes drastically, ensuring the reliability of results. The MDFTO method successfully achieves the optimal solution, and the generated trajectory strictly follows the laws of vehicle dynamics and kinematics. This method provides an effective and engineering feasible technical approach for the trajectory optimization of the MAV under complex constraints, and has important theoretical and practical value for improving its strike accuracy, maneuverability and comprehensive combat effectiveness.