Phantom Track Generation Through Cooperative Control of Multiple ECAVs Based on Feasibility Analysis

[+] Author and Article Information
D. H. Maithripala, Suhada Jayasuriya

Department of Mechanical Engineering, Texas A&M University, 3123 TAMU, College Station, TX 77843-3123

Mark J. Mears

 Wright-Patterson Air Force Base, AFRL/VACA, WPAFB, OH 45433-7531

From an operational point of view in the event an ECAV fails, the radar it engaged will no longer detect the phantom and a loitering ECAV can be brought in to reengage the particular radar. The temporary loss of detection by one of the radars may not be detrimental for the deception process since often a radar network decides on the targets they detect based on majority ruled voting. However, we emphasize that the radar deception scenario addressed is not meant for operational significance but is more importantly intended as a motivating example to address the issue of finding real-time solutions to cooperative control problems having strict constraints. In this paper, we assume that there are always as many ECAVs as there are radars.

J. Dyn. Sys., Meas., Control 129(5), 708-715 (Jan 22, 2007) (8 pages) doi:10.1115/1.2764512 History: Received April 04, 2006; Revised January 22, 2007

Radar deception through phantom track generation using multiple electronic combat air vehicles is addressed, which serves as a motivating example for cooperative control of autonomous multiagent systems. A general framework to derive sufficient conditions for the existence of feasible solutions for an affine nonlinear control system comprising of a team of nonholonomic mobile agents having to satisfy actuator and interagent constraints is presented. Based on this feasibility analysis, an algorithm capable of generating trajectories online and in real time, for the phantom track generation problem, is developed. A rigorous treatment of the phantom track generation problem, which includes results on its accessibility, feasibility, local asymptotic straightening of trajectories, and a limited result on system controllability, is given. The basic approach to the algorithm based on the results developed here is presented along with simulation results, validating the proposed approach.

Copyright © 2007 by American Society of Mechanical Engineers
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Figure 1

Phantom track generation through a team of four ECAVs

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Figure 2

Control dynamics and configuration constraints in Cartesian coordinates

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Figure 3

Control dynamics in polar coordinates for the case of a single ECAV engaging a single radar

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Figure 4

Flowchart: Algorithm used in generating real-time trajectories

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Figure 5

Simulation results of trajectories for a team of four ECAVs engaging four radars generating a coherent phantom track

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Figure 6

Convergence of ri∕Ri to Vi∕V for the fourth ECAV

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Figure 7

Simulation results for the algorithm based on an approximate construction of the reachable configuration space developed in Ref. 17

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Figure 8

Simulation results of the algorithm based on the feasibility analysis for the same initial conditions as in for results given in Fig. 7



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