Adaptive Fault-tolerant Cooperative Guidance Law under Actuator Fault

This paper studies the time-varying line-of-sight (LOS) formation tracking guidance problem for the multi-missile system under the actuator fault. Firstly, a two-dimensional guidance model is established and an actuator fault model is expressed. Secondly, an adaptive fault-tolerant cooperative guidance law based on consistency theory is designed to deal with the unknown actuator fault, the nonlinear part of the system and the leader's input. Thirdly, by using the Lyapunov theory, it is proved that the error of the follower's LOS formation tracking guidance is semi-globally uniformly bounded. Finally, a numerical simulation verifies the effectiveness of the adaptive fault-tolerant cooperative guidance law.