The trajectory optimization problem subject to terminal impact time and angle specifications can be reformulated as a nonlinear programming problem using the Gauss pseudospectral method. The cost function of the trajectory optimization problem is modified to reduce the terminal control energy. A receding horizon optimization strategy is implemented to reject the errors caused by the motion of a surface target. Several simulations were performed to validate the proposed method via the C programming language. The simulation results demonstrate the effectiveness of the proposed algorithm and that the real-time requirement can be easily achieved if the C programming language is used to realize it.
Zhang, L., Sun, M., Chen, Z., Wang, Z., & Wang, Y. (2014). Receding Horizon Trajectory Optimization with Terminal Impact Specifications. Mathematical Problems in Engineering, 2014, 1–8. https://doi.org/10.1155/2014/604705