《Model Predictive Control of Swarms of Spacecraft Using Sequential Convex Programming》
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该论文发表于2014年《 JOURNAL OF GUIDANCE, CONTROL, AND DYNAMICS》
用连续凸编程的方法做成群的宇宙飞船的模型预测控制
非线性优化控制问题：
将问题线性化，
并由约束条件得到无碰撞区域如下
然后是凸编程
如图
然后离散化凸编程
算法如下
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