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

A consensus-distributed fault-tolerant (CDFT) control law is proposed for a class of leader-following multi-vehicle co-operative 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 occa-sions even cause system instability. Firstly, the estimator of ac-tuator 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 rele-vant 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 avail-able. Finally, numerical simulation are carried out to indicate that the proposed distributed fault-tolerant (DFT) control law is ef-fective.