Robust integrated guidance and control considering actuator failure based on generalized incremental predictive control

Hasan, Husam; Ghahremani, Nemat Ollah; Nasrollahi, Saeed

Robust integrated guidance and control considering actuator failure based on generalized incremental predictive control

Document Type : Dynamics, Vibrations, and Control

Authors

¹ PhD student,, Malek-Ashtar University of Technology, Tehran, Iran

² Assistant Professor, Malek Ashtar University of Technology, Tehran, Iran

³ Associate Professor, Malek Ashtar University of Technology, Tehran, Iran

Abstract

In this research, robust two-dimensional guidance and control between an interceptor and a target, influenced by the actuator fault of the interceptor, has been formulated and simulated as an integrated problem. This problem is solved using a robust generalized robust incremental predictive control algorithm. To enhance the system's robustness against actuator faults, a novel approach is employed in which a cost function is defined. This cost function considers not only the tracking error and control signal variations but also the uncertainties in the system's input matrix and then optimized over a finite time horizon. By optimizing this cost function, a robust control signal is derived. Optimizing the cost function over a finite horizon transforms complex differential equations into algebraic equations, making the method simple, executable, and capable of solving the most complex optimization problems. Since the control signal depends on the model uncertainties, this method increases the closed-loop system's resistance and compensates for actuator faults when the actuator's gain decreases due to a fault. Various numerical simulations have been conducted to demonstrate the effectiveness of the proposed algorithm, and its performance has been compared with several other methods.

Graphical Abstract