Impulsive Spacecraft Formation Maneuvers with Optimal Firing Times

The problem of optimally-timed impulsive thrusting for the control of spacecraft formations is investigated. The calculus of variations is used to obtain necessary and sufficient conditions for the impulse application times that minimize the L2-norm squared. Numerical examples applying the the proposed method to both formation-keeping and formation reconfiguration problems demonstrate the method effectiveness and illustrate its advantages over existing strategies.