• CONTROL THEORY AND APPLICATION •

### Consensus of multi-vehicle cooperative attack with stochastic multi-hop time-varying delay and actuator fault

Guangbin CAI1,2,*(), Yushan ZHAO1(), Yang ZHAO1(), Changhua HU1()

1. 1 College of Missile Engineering, Rocket Force University of Engineering, Xi’an 710025, China
2 School of Astronautics, Northwestern Polytechnical University, Xi’an 710072, China
• Received:2019-08-21 Online:2021-02-18 Published:2021-03-16
• Contact: Guangbin CAI E-mail:cgb0712@163.com;17792630436@163.com;zy940116@126.com;hch66603@163.com
• About author:|CAI Guangbin was born in 1982. He received his Ph.D. degree in control science and engineering in 2012 from Rocket Force University of Engineering, and got the reward-gainer of the excellent doctor degree dissertation in Shaanxi Province, China. He is currently an associate professor at College of Missile Engineering, Rocket Force University of Engineering. His main research interests include guidance and control theory and its applications of aircrafts. E-mail: cgb0712@163.com||ZHAO Yushan was born in 1992. He received his M. E. degree from the Department of Control Engineering, Rocket Force University of Engineering, Xi’an, China, in 2017. His main research interests include cooperative attack and fault-tolerant control. E-mail: 17792630436@163.com||ZHAO Yang was born in 1994. He received his M.E. degree from the Department of Control Engineering, Rocket Force University of Engineering, Xi’an,?China, in 2018. His main research interests include flight control theory and its applications of hypersonic vehicle. E-mail: zy940116@126.com||HU Changhua was born in 1966. He received his B.E. and M.E. degrees from the Rocket Force University of Engineering, Xi’an, China, in 1987 and 1990, respectively, and his Ph.D. degree from the Northwestern Polytechnic University, Xi’an, China, in 1996. He is currently a Cheung Kong Scholar Chair Professor with Rocket Force University of Engineering. He was a visiting scholar with the University of Duisburg, Duisburg, Germany. He has authored or coauthored two books and about 100 articles. His research interests include fault diagnosis and prediction, life prognosis, and fault tolerant control. E-mail: hch66603@163.com
• Supported by:
This work was supported by the National Natural Science Foundation of China (61773387), and the China Postdoctoral Fund (2016M590971; 2017T100770).

Abstract:

A consensus-distributed fault-tolerant (CDFT) control law is proposed for a class of leader-following multi-vehicle cooperative attack (MVCA) systems in this paper. In particular, the switching communication topologies, stochastic multi-hop time-varying delays, and actuator faults are considered, which may lead to system performance degradation or on certain occasions even cause system instability. Firstly, the estimator of actuator faults for the following vehicle is designed to identify the actuator faults under a fixed topology. Then the CDFT control protocol and trajectory following error are derived by the relevant content of Lyapunov stability theory, the graph theory, and the matrix theory. The CDFT control protocol is proposed in the same manner, where a more realistic scenario is considered, in which the maximum trajectory following error and information on the switching topologies during the cooperative attack are available. Finally, numerical simulation are carried out to indicate that the proposed distributed fault-tolerant (DFT) control law is effective.