# Precise Mission Process Control Based on a Novel Dual-Code Group Network Plan Diagram
## 6 Results and Discussion
### Experiment Results and Discussion
#### 6.3.1 Experiment 1: No Disturbance  
In Experiment 1, we did not apply any disturbance during the mission execution, all the missions were executed as planned, and thus, we observed the execution of the mission process. Without mission delay, the total duration of the whole mission plan was 121 min, and Figure 18 shows the mission process at different moments. The visualization of each moment consists of three parts.  
The first part of the top-down visual representation shows the execution of the network plan diagram, with red representing critical missions, blue representing non-critical missions, and gray representing completed missions. The black dotted line represents the timeline, whose time scale indicates the current moment. To show the system output more clearly, we use the green straight line to represent the desired output, whose indicated  
Figure 17: Group Network Plan Diagram Visualization.  
time scale is \(y_{e}\), in this plan \(y_{e}\equiv 110\). The black straight line represents the real-time output, which is indicated by a time scale of \(y(t)\). When the black and green lines coincide, the mission is running without errors. When the black line falls behind the green line, it proves that the mission process has a delay error.  
The second part shows the system output curve, where the green straight line represents \(y_{e}\), the black curve represents \(y(t)\), and the red straight line represents the maximum input \(y_{\max}(t)\) that the system can accept at present, which is obtained from (54). If \(y(t)>y_{\max}(t)\), the system cannot eliminate the error, and the system is not controllable at this point. If \(y(t)\leq y_{\max}(t)\), it means that the error can be eliminated by applying a control quantity.  
The third part shows rich mission information and system information. For any mission \(i\), the blue bar represents the mission state \(s_{i}(t)\) at moment \(t\), and \(s_{i}(t)\) is defined as shown in (19). The orange bar represents the component \(\omega_{i}(t)\) of the system disturbance \(\omega(t)\) at mission \(i\), \(\omega_{i}(t)\) is defined as shown in (29). \(\omega_{i}(t)=0\) represents that the mission is proceeding as planned without delay; \(\omega_{i}(t)=1\) represents that the mission has been delayed at moment \(t\), and the mission is not ended at the current moment. The green bar represents the component \(u_{i}(t)\) of the system control quantity \(\mathbf{u}(t)\) for mission \(i\). At moment \(t\), if the system exerts control over mission \(i\), then \(u_{i}(t)<0\), and if the system does not exert control over mission \(i\), then \(u_{i}(t)=0\).  
As shown in Figure 18a, at \(t=0\), all mission states are \(0\), indicating that the plan has not yet started, at that moment \(y(0)=y_{e}\). As shown in Figure 18b, at \(t=40\), the plan is in progress, the grayed missions are completed, and the missions G3, I3, H3, B3, and D3 are in progress, and some other missions have not yet started. At this moment, the disturbance for all missions is \(0\), i.e., \(\omega(40)=\mathbf{0}\), which means that there is no disturbance in the system, and thus there is still \(y(40)=y_{e}\). Since the system error is \(0\) at this moment, the system has not generated any output, i.e., \(\mathbf{u}(40)=\mathbf{0}\). As shown in Figure 18c, at \(t=110\), the plan start time of the constant critical mission E7 is exactly reached, with \(y(110)=y_{e}\), which means that E7 can be executed according to the plan, and there is no error in the mission process. In the case of no disturbance, we can see that \(y(t)\) tracks \(y(e)\) all the time, and all missions start and end as planned.