Event-Triggered Fault-Tolerant Cooperative Guidance Law Design

The event-triggered line of sight (LOS) formation cooperative guidance under actuator fault is addressed in this paper. First, a composite variable including LOS angle rate and local LOS angle formation error is proposed. Then, a state update mechanism is designed to achieve global stability in the error of the multiple aircraft system. Combined with sliding mode variable structure theory and adaptive control theory, a distributed event-triggered fault-tolerant cooperative guidance law and a corresponding design algorithm are proposed. In addition, the convergence of the closed-loop LOS angle formation and LOS angle rate error is proved based on the Lyapunov stability theory. The stability conclusion also provides a proof to exclude the Zeno phenomenon. Finally, a simulation validates the proposed event-triggered fault-tolerant cooperative guidance law.