Attack-Defense Game of Heterogeneous Multi-Agent Systems Under Actuator Faults

This paper investigates N versus N attack-defense game problem of heterogeneous nonlinear multi-agent systems under the condition of actuator faults on the defensive side. Specifically, N attackers need to approach the target area as closely as possible in order to attack it, while N defenders need to approach the attackers as closely as possible and intercept them. We decompose this problem into two N-player nonzero-sum game problems. Based on differential game method, the optimal attacking game strategies for the attackers are first presented. Then, considering that the defenders contains actuator faults, this paper designs a fault observer for each defending agent based on adaptive estimation theory to estimate unknown actuator fault and proposes a novel optimal defense game strategy applicable for actuator fault. To address the problem that it is difficult to directly solve the optimal control strategies in nonlinear systems, we propose an online learning algorithm based on adaptive dynamic programming to obtain approximate solutions for the optimal cost functions and the optimal control strategies. The effectiveness of the proposed method is verified through theoretical analysis and simulation examples.