基于零和微分博弈的航天器编队通信链路故障容错控制

任好; 马亚杰; 姜斌; 刘成瑞

doi:10.16383/j.aas.c240115

基于零和微分博弈的航天器编队通信链路故障容错控制

doi: 10.16383/j.aas.c240115 cstr: 32138.14.j.aas.c240115

任好^1,,
马亚杰^{1, 2,},
姜斌^{1, 2,},
刘成瑞^{3, 4,}

1.
南京航空航天大学自动化学院南京 210016
2.
直升机动力学全国重点实验室南京 210016
3.
北京控制工程研究所北京 100190
4.
空间智能控制技术全国重点实验室北京 100190

基金项目: 国家自然科学基金 (62273177, 62020106003, 62233009), 江苏省自然科学基金(BK20211566, BK20222012), 高校学科创新引智基地 (B20007), 空间智能控制技术全国重点实验室开放基金 (HTKJ2023KL502006), 中央高校基本科研业务费 (NI2024001), 江苏省研究生科研与实践创新 (KYCX23_0383), 国家留学基金(202306830097)资助

详细信息

作者简介:
任好：南京航空航天大学自动化学院博士研究生. 主要研究方向为自适应容错控制及应用. E-mail: haoren@nuaa.edu.cn

马亚杰：南京航空航天大学自动化学院教授. 主要研究方向为自适应故障诊断与容错控制及应用. E-mail: yajiema@nuaa.edu.cn

姜斌：南京航空航天大学自动化学院教授. 主要研究方向为智能故障诊断与容错控制及应用. 本文通信作者. E-mail: binjiang@nuaa.edu.cn

刘成瑞：北京控制工程研究所高级工程师. 主要研究方向为航天器的故障诊断与容错控制. E-mail: liuchengrui_502@163.com

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出版历程
- 收稿日期: 2024-03-05
- 录用日期: 2024-08-07
- 网络出版日期: 2024-11-22

Fault-tolerant Control for Spacecraft Formation With Communication Faults Based on Zero-sum Differential Game

REN Hao^1
,,
MA Ya-Jie^{1, 2
,},
JIANG Bin^{1, 2
,},
LIU Cheng-Rui^{3, 4
,}

1.
College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016
2.
National Key Laboratory of Helicopter Aeromechanics, Nanjing 210016
3.
Beijing Institute of Control Engineering, Beijing 100190
4.
National Laboratory of Space Intelligent Control, Beijing 100190

Funds: Supported by National Natural Science Foundation of China (62273177, 62020106003, 62233009), Natural Science Foundation of Jiangsu Province (BK20211566, BK20222012), Programm of Introducing Talents of Discipline to Universities of China (B20007), National Key Laboratory of Space Intelligent Control (HTKJ2023KL502006), Fundamental Research Funds for the Central Universities (NI2024001), Postgraduate Research and Practice Innovation Program of Jiangsu Province (KYCX23_0383), and National Scholarship Council of China (202306830097)

More Information

Author Bio:
REN Hao　Ph.D. candidate at the College of Automation Engineering, Nanjing University of Aeronautics and Astronautics. Her research interest covers adaptive fault-tolerant control and its applications

MA Ya-Jie　Professor at the College of Automation Engineering, Nanjing University of Aeronautics and Astronautics. His research interest covers adaptive fault diagnosis and fault-tolerant control and their applications

JIANG Bin　Professor at the College of Automation Engineering, Nanjing University of Aeronautics and Astronautics. His research interest covers intelligent fault diagnosis and fault-tolerant control and their applications. Corresponding author of this paper

LIU Cheng-Rui　Senior engineer at Beijing Institute of Control Engineering. His research interest covers fault diagnosis and tolerant control for spacecrafts

摘要

摘要: 针对可能由不确定干扰和网络攻击引起的通信链路故障的航天器编队控制系统, 提出一种基于零和微分博弈的最优容错控制方法. 该方法通过构建描述编队协同控制的性能函数, 将通信链路故障容错控制问题等效转换为零和微分博弈模型. 采用Hamilton-Jacobi-Isaacs (HJI)方程和极小极大原则设计博弈中的优化解, 并利用自适应动态规划算法对其进行在线逼近, 以获得编队的最优容错控制策略, 保证航天器通信链路故障下的在轨稳定性和最优性能. 仿真结果表明本文设计的分布式最优容错控制律的有效性.
- 自适应动态规划 /
- 通信链路故障 /
- 容错控制 /
- 航天器编队控制系统 /
- 零和微分博弈
Abstract: This paper presents an optimal fault-tolerant control approach for spacecraft formation control systems in the presence of communication faults arising from uncertain disturbance and cyber-attacks. The approach is based on zero-sum differential games and involves transforming the fault-tolerant control problem of communication faults into an equivalent zero-sum and differential game model. This transformation is achieved through the construction of a performance function that describes cooperative formation control. The methodology employs Hamilton-Jacobi-Isaacs (HJI) equations and the minimax principle for designing optimization solutions within the game. Furthermore, an adaptive dynamic programming algorithm is utilized for online approximation. This approach yields the optimal fault-tolerant control strategy for the formation, ensuring both on-orbit stability and optimal performance in the event of spacecraft communication faults. Simulation results provide empirical evidence of the effectiveness of the proposed distributed optimal fault-tolerant control law.
- Adaptive dynamic programming /
- communication faults /
- fault-tolerant control /
- spacecraft formation control systems /
- zero-sum differential game

HTML全文

图 1 传统容错控制方法与基于零和微分博弈容错控制方法对比图

Fig. 1 Comparison between traditional fault-tolerant control methods and fault-tolerant control methods based on zero-sum differential games

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图 2 LVLH坐标系

Fig. 2 LVLH coordinate system

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图 3 通信链路故障示意图

Fig. 3 Schematic diagram of communication faults

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图 4 航天器编队通信拓扑图

Fig. 4 Spacecraft formation communication topology

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图 5 带有通信链路故障的航天器邻域编队误差$ \delta_{f}(t)$

Fig. 5 Spacecraft formation neighborhood tracking error with communication transmission faults $ \delta_{f}(t)$

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图 8 航天器1邻域编队误差(未施加容错控制律)$\delta_{1}(t)$

Fig. 8 Spacecraft 1 formation neighborhood tracking error $\delta_1(t)$ when fault-tolerant law is not applied

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图 6 航天器邻域编队误差$\delta(t)$

Fig. 6 Spacecraft formation neighborhood tracking error $\delta(t)$

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图 7 控制力矩$u(t)$

Fig. 7 Control torques $u(t)$

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