Fault tolerance of cooperative interception using multiple flight vehicles

Cooperative interception of a moving target by multiple vehicles is studied. The main contributions of research work presented in this paper include: (1) cooperative interception is achieved for multiple vehicles to reach the target simultaneously at a finite time, by proposing and solving for a novel finite-time consensus problem and (2) in addition, the cooperative interception is investigated with tolerance of actuator or network failures, where novel fault tolerant consensus protocols are proposed to address actuator failures (or loss of effectiveness) and network failures, respectively. The maximum fault tolerance against network failures can be estimated. Simulations of a three-against-one interception case are presented to demonstrate the effectiveness of the proposed design approaches.