Time-varying fault-tolerant formation tracking based cooperative control and guidance for multiple cruise missile systems under actuator failures and directed topologies

doi:10.21629/JSEE.2019.03.16

Journal of Systems Engineering and Electronics ›› 2019, Vol. 30 ›› Issue (3): 587-600.doi: 10.21629/JSEE.2019.03.16

• Control Theory and Application • Previous Articles Next Articles

Time-varying fault-tolerant formation tracking based cooperative control and guidance for multiple cruise missile systems under actuator failures and directed topologies

Xingguang XU^1,²(), Zhenyan WEI^1,^3,*(), Zhang REN¹(), Shusheng LI²

¹ School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
² Beijing Institute of Mechanical and Electrical Engineering, Beijing 100074, China
³ Beijing Aerospace Technology Institute, Beijing 100074, China

Received:2018-08-23 Online:2019-06-01 Published:2019-07-04
Contact: Zhenyan WEI E-mail:xuxingguang@buaa.edu.cn;weizhenyan@buaa.edu.cn;renzhang@buaa.edu.cn
About author:XU Xingguang was born in 1988. He received his B.E. degree from Northwestern Polytechnical University in 2007 and M.S. degree from the Third Institute of China Aerospace Science and Industry Corporation Limited in 2014. He is now a Ph.D. candidate in navigation, guidance and control in Beihang University and also an engineer in Beijing Institute of Mechanical and Electrical Engineering. His research interests include aircraft design, fault-tolerant control, and cooperative control of multi-agent systems. E-mail:xuxingguang@buaa.edu.cn|WEI Zhenyan was born in 1983. She received her B.E. degree from Harbin Institute of technology in 2006 and M.S. degree from the Third Institute of China Aerospace Science and Industry Corporation Limited in 2009. She is now a Ph.D. candidate in navigation, guidance and control in Beihang University and also a professor in Beijing Aerospace Technology Institute. Her research interests include aircraft control and adaptive control. E-mail:weizhenyan@buaa.edu.cn|REN Zhang received his B.E., M.E. and Ph.D. degrees in aircraft guidance, navigation, and simulation from Northwestern Polytechnical University in 1982, 1985 and 1994, respectively. He held the visiting professor position with University of California, Riverside, and Louisiana State University, USA, respectively. He is now a professor with the School of Automation Science and Electronic Engineering, Beihang University. His research interests include aircraft guidance, navigation and control, fault detection, isolation and recovery and cooperative control of multi-agent systems. E-mail:renzhang@buaa.edu.cn
Supported by:
the Natural Science Foundation of China(61101004);the Natural Science Foundation of China(61803014);This work was supported by the Natural Science Foundation of China (61101004; 61803014)

Abstract

Abstract:

This paper studies time-varying fault-tolerant formation tracking problems for the multiple cruise missile system under directed topologies subjected to actuator failures. Firstly, the timevarying fault-tolerant formation tracking process for the multiple cruise missile system is divided into the guidance loop and the control loop. Then protocols are constructed to accomplish distributed fault-tolerant formation tracking in the guidance loop with the adaptive updating mechanism, in the condition where neither the knowledge about actuator malfunctions nor any global information of the communication topology remains available. Moreover, sufficient conditions to accomplish formation tracking are presented, and it is shown that the multiple cruise missile system can carry on the predefined time-varying fault-tolerant control (FTC) formation tracking through the active disturbances rejection controller (ADRC) and the proportion integration (PI) controller by the way of the fault-tolerant protocol utilizing the designed strategies, in the event of actuator failures. At last, numerical analysis and simulation are designed to verify the theoretical results.

Key words: fault-tolerant, formation tracking, consensus-based, cruise missile, active disturbances rejection controller (ADRC)

Xingguang XU, Zhenyan WEI, Zhang REN, Shusheng LI. Time-varying fault-tolerant formation tracking based cooperative control and guidance for multiple cruise missile systems under actuator failures and directed topologies[J]. Journal of Systems Engineering and Electronics, 2019, 30(3): 587-600.

Figures/Tables 16

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References 42

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Parameter	Value
Flight height/m	100
Flight speed/Ma	0.72
Mass/kg	1 315
Fuselage length/mm	5 560
Wingspan/mm	2 650
Engine thrust/kgf	267

Actuator failure modes	Bias failure parameter	Gain failure parameter
Gain failure	$\\|{{\mathit{\boldsymbol{b}}}}_i (t)\\| = 0$	$0<\\|{{\mathit{\boldsymbol{g}}}}_i (t)\\|<1$
Bias failure	$\\|{{\mathit{\boldsymbol{b}}}}_i (t)\\|\ne 0$	$\\|{{\mathit{\boldsymbol{g}}}}_i (t)\\| = 1$
Both failure and bias failure	$\\|{{\mathit{\boldsymbol{b}}}}_i (t)\\|\ne 0$	$0<\\|{{\mathit{\boldsymbol{g}}}}_i (t)\\|<1$
Fault-free	$\\|{{\mathit{\boldsymbol{b}}}}_i (t)\\| = 0$	$\\|{{\mathit{\boldsymbol{g}}}}_i (t)\\| = 1$

Agent	Bias failure	Gain failure
Cruise missile1	$[0.2\cos (1.5t), -0.12\sin (3t)]^{{\rm{T}}} $	$\left[\!\!\begin{array}{*{20}c} {0.68+0.1\cos (t)} & 0 \\ 0 & {0.8-0.11\sin (1.6t)} \\ \end{array}\!\!\right]$
Cruise missile 2	$[-0.15\sin (2t), 0.1-0.1\cos (t)]^{{\rm{T}}} $	$\left[\!\!\begin{array}{*{20}c} {0.72+0.2\sin (2.1t)} & 0 \\ 0 & {0.6+0.1\sin (t)} \\ \end{array}\!\!\right]$
Cruise missile 3	$[-0.15{{\rm{e}}}^{-2t}, 0.2\sin (t)]^{{\rm{T}}} $	$\left[\!\!\begin{array}{*{20}c} 1 & 0 \\ 0 & 1 \\ \end{array}\!\!\right]$
Cruise missile 4	$[0.25\sin (3t), -0.23\cos (1.3t)]^{{\rm{T}}} $	$\left[\!\!\begin{array}{*{20}c} {0.65+0.15\cos (3t)} & 0 \\ 0 & {0.8-0.1\sin (2t)} \\ \end{array}\!\!\right]$
Cruise missile 5	$[0, 0]^{{\rm{T}}} $	$\left[\!\!\begin{array}{*{20}c} 1 & 0 \\ 0 & 1 \\ \end{array}\!\!\right]$
Cruise missile 6	$[0, 0]^{{\rm{T}}} $	$\left[\!\!\begin{array}{*{20}c} {0.85-0.1\sin (2t)} & 0 \\ 0 & {0.7+0.2{{\rm{e}}}^{-3t}} \\ \end{array}\!\!\right]$

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Time-varying fault-tolerant formation tracking based cooperative control and guidance for multiple cruise missile systems under actuator failures and directed topologies

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