Consensus of leader-follower multi-warhead networked cooperative attack with stochastic multi-step time-varying delay

Aiming at the consensus of leader-follower multi-warhead networked cooperative attack system with stochastic multi-step time-varying delay in the free flight segment of ballistic missile, considering the actual situation, a three-dimensional integrated guidance model of leader-follower multi-warhead cooperative attack system is established. Based on the established model, considering the effect of stochastic multi-step time-varying delay, a local control law of following warhead is designed by using the theory of graph and consensus. After detailed derivation, it proves that the designed local control law can achieve the state consensus of cooperative attack system. Numerical simulation result shows that the designed local control law can achieve the state consensus of leader-follower multi-warhead networked cooperative attack system with stochastic multi-step time-varying delay, which illustrates the effectiveness of designed local control law.