Predefined-Time Air-Ground Cooperative Control with Actuator Faults and Communication Attacks

The cooperative tracking control strategy of heterogeneous Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) systems under unknown actuator fault and communication signal attack is studied. Fuzzy logic system (FLSs) is used to approximate the uncertain nonlinear terms in the system. A Predefined Time (PT) distributed observer is designed to observe the unmeasurable state of the system when the communication is attacked. Then, a fault-tolerant controller is designed based on the theory of predetermined time Lyapunov stability to realize cooperative control unaffected by faults, ensuring the stability of the closed loop and effective tracking performance in predetermined time. Finally, the effectiveness of the control method is verified by numerical simulation.