This paper applies optimal control to in the aerial defense problem. Triangle guidance uses a novel geometric approach for missile-to-missile intercept to defend an aircraft. The geometric approach from triangle guidance is used in the framework of optimal control. A triangle is drawn using the three vehicles at vertices. When this triangle is collapsed the defending missile will be directly between the aircraft and the target missile. If this condition is kept the defending missile will intercept the target. A correction factor is derived from including the derivative of the exterior angle in the final state constraint in the optimal control derivation. Simulation results are shown and the effectiveness of the guidance law is demonstrated.
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