Consensus of multi-vehicle cooperative attack with switching topology and stochastic fault

Aiming at the problem that the switching communication topologies in the leader-following multi-vehicle cooperative attack system and stochastic actuator faults existed in the following vehicles may cause the degradation of consensus or even make the cooperative attack system unstable, the estimator of the following vehicle's actuator fault is firstly designed in this paper. Secondly, the distributed fault-tolerant control law and the tracking error are respectively presented using graph theory and matrix theory on the context that there are stochastic actuator faults for following vehicles under fixed topology. Based on the above work, considering a more practical situation, the distributed fault-tolerant control law is derived on the context that there are stochastic actuator faults for following vehicles under switching topologies, and the maximum tracking error under switching topologies is given. The results of numerical simulation show that the designed distributed fault-tolerant control law can well achieve the consensus of leader-following multi-vehicle cooperative attack system on the context that there are stochastic actuator faults for following vehicles, and the tracking error is within a reasonable range. The related results provide a reference for the design of distributed fault-tolerant control law on the context that there are stochastic actuator faults for following vehicles under switching topology.