Abstract—In this paper, an integrated fault-tolerant guidance
and control scheme is proposed for reentry hypersonic vehicles.
Firstly, a predictor-corrector reentry guidance controller in
guidance loop is designed for guidance commands to generate
the desired angle of attach and bank angle commands that
satisfy the reentry constraints. Then, a backstepping control
algorithm is designed for attitude loop to track the desired
guidance commands. Through a control allocation approach,
the required control surface deflections are calculated. The
control surface faults are considered and the remaining healthy
control surfaces are distributed in an optimal way to
compensate the influence of the failed surface. Simulation
results under different scenarios, including both normal and
fault situations, are presented to show the performance of the
proposed integrated guidance and control scheme.
Key Words: fault-tolerant control, predictor-corrector guidance,
control allocation, reentry hypersonic vehicles
I. INTRODUCTION
Reentry hypersonic vehicle guidance technology is a key
technology in the development. From the early 1990s, in
order to meet the requirements for autonomy, security,
reliability and accuracy of the new generation of space
shuttles and reusable launch vehicles, the major world powers
in aerospace carry out research, development and verification
work of new reentry guidance technologies. In the field of
hypersonic reentry guidance, so many important methods
have been proposed, such as
Quasi-Equilibrium-Glide
guidance method developed by the Iowa State University
[1][2], evolved acceleration guidance logic for entry,
developed by the University of California [3], optimal
nonlinear feedback guidance method [4], the
predictor-corrector entry guidance method [5][6] and
mixed-guidance method [7].
In reentry phase, the occurrence of control surface failure
or other fault conditions often leads to the aircraft dynamic or
aerodynamic characteristics changes, causing devastating
effect to the ability of vehicle which is used to produce the
desired control torque. In the event of failure of the control
surfaces, hypersonic aircraft guidance and control systems
This work was supported by the National Natural Science Foundation of
China (61374116, 61273171), the Fundamental Research Funds for the
Central Universities (NO. NE2014202), and the Foundation of Graduate
Innovation Center in NUAA (kfjj201421).
Jiasong Qian is with College of Automation Engineering, Nanjing
University of Aeronautics and Astronautics, Nanjing 210016, China.
Ruiyun Qi is with College of Automation Engineering, Nanjing
University of Aeronautics and Astronautics, Nanjing 210016, China (e-mail:
ruiyun.qi@nuaa.edu.cn
).
Bin Jiang is with College of Automation Engineering, Nanjing University
of Aeronautics and Astronautics, Nanjing 210016, China.
with a high degree of autonomy fault tolerance need to meet
the requirements for hypersonic aircraft landing safely or
temporary replacement for landing field. The fault-tolerant
technology will become extremely complicated, but it has an
extremely important role in the future hypersonic vehicle
safety and reliability.
In the case of actuator failures during hypersonic reentry
vehicle segment, we design fault-tolerant methods for its
reentry trajectory, guidance and attitude control to achieve the
maximum enhancement of fault tolerance in hypersonic
reentry vehicles. The fault-tolerant methods are divided into
fault-tolerant guidance (FTG), fault-tolerant control (FTC)
and integrated fault-tolerant guidance and control (IFTGC).
FTC has the limited fault-tolerant ability because usually the
remaining healthy control surfaces can only provide limited
control torque. FTG can provide a greater flexibility to
account for off-nominal conditions in situations where FTC is
not sufficient (in-board control resources limited after a
failure) to recover the vehicle timely [8]. This paper studies
the performance of a control allocation based on FTC scheme
under different failures and shows that only relying on FTC
may not achieve satisfactory system performance under all
certain situations.
The rest of this paper is organized as follows. In Section 2,
the 6-DOF motion equations of a hypersonic vehicle and the
control objectives are given. In Section 3, the
predictor-corrector reentry guidance controller is designed to
calculate guidance commands and to guide the vehicle to
arrival at the terminal area energy management (TAEM)
phase. In Section 4, a backstepping control algorithm is
applied to track the guidance commands from the guidance
loop. Control allocation is used to calculate the surface
deflections. The simulation results are shown in Section 5 to
demonstrate the desired performance of the fault-tolerant
guidance and control system.
II. P
ROBLEM FORMULATION
This section presents the six-degree-of-freedom equations
of a hypersonic vehicle. The six-degree-of-freedom motion of
flight includes two parts: translational equations of motion
and rotational equations of motion [9]. Then the control
objectives will be given.
A. Translational equations of motion
The simplified model used to describe the flight trajectory
is given by following equations of motion:
Fault-tolerant guidance and control design for reentry hypersonic
flight vehicles based on control-allocation approach
Jiasong Qian, Ruiyun Qi, Bin Jiang
1624
978-1-4799-4699-0/14/
31.00©2014 IEEE
Proceedings of 2014 IEEE Chinese Guidance, Navigation and Control Conference August 8-10, 2014 Yantai, China