Group system closed-loop control method based on pseudo-spectrum and convex optimization

The invention discloses a pseudo-spectrum and convex optimization-based group system closed-loop control method. The method comprises the following steps of: obtaining a target function, task starting and ending moments, initial and expected motion states, path constraints, boundary condition constraints and control capability constraints corresponding to each group member in a group system control process; constructing a group system optimal control problem model; processing the model by using a Radau pseudo-spectral method to obtain a discrete group system optimal control problem model; processing the discrete group system optimal control problem model by using a convex optimization method to obtain a pseudo-spectral convexity group system optimal control problem model; and segmenting the time domain of the pseudo-spectrum convexity group system optimal control problem model by using two pseudo-spectrums, solving the group system optimal control problem by using a rolling time domain control method, and obt