Observer-Based Adaptive Resilient Fault-Tolerant Cooperative Control for Multiple Fixed-Wing UAVs Subject to Cyberattacks and Actuator Faults

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This paper proposes an adaptive resilient fault-tolerant cooperative control (RFTCC) scheme for multiple fixed-wing unmanned aerial vehicles (UAVs) subject to cyberattacks and actuator faults. A control-oriented dynamic modeling framework is established to characterize fixed-wing UAV formation tracking under cyberattack and actuator fault threats. A fixed-time composite cyberattack observer is designed to simultaneously estimate and compensate for persistent spoofing attacks and intermittent DoS attacks on position measurements, ensuring rapid convergence under attacked conditions. To enhance the resilience of the multiple fixed-wing UAV system, an adaptive RFTCC scheme is investigated, integrating adaptive laws to dynamically adjust control gains against actuator faults and attack-induced uncertainties. Stability analysis proves the boundedness of tracking errors under the proposed control framework. Numerical simulations involving four UAVs demonstrate the effectiveness of the proposed control scheme in maintaining formation tracking despite simultaneous cyberattacks and actuator faults. The simulation results highlight the control effectiveness in attack mitigation, fault tolerance, and trajectory recovery.

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