robust integrated guidance and control system for faulty actuator in two-dimensional pursuit engagements

Two-dimensional engagement of a pursuer and a target, affected by fault in pursuer actuator, is formulated and simulated as an integrated guidance and control problem. then the problem will be solved using robust generalized incremental predictive control algorithm. to make the system robust against the actuator fault, a new cost function is defined. it will contain additional term to compensate for the fault. the proposed cost function penalizes the relative distance between the pursuer and the target, the pursuer deflection angle and fault parameter. the defined cost function is optimized and the robust control signal is derived. the asymptotic stability of the proposed algorithm is proven using lyapunov function stability. three different scaling factors of the actuator gain faults was simulated. various numerical simulation results and comparisons are presented to show the high performance of the proposed algorithm for different scenarios. the impact of both delay and fault occurrence time on system performance is also analyzed