Resilient Control in Multi-Hydrofoil Crafts: Tackling Actuator Faults and False Data Injection for Attitude Consensus

This paper addresses the attitude consistency problem in multi-hydrofoil crafts, considering actuator faults, false data injection, stochastic ocean wave disturbances, and topological propagation effects. We propose a game-theoretic fault-tolerant control (FTC) framework integrating a composite controller with a specific performance index. In this framework, both local and neighboring node information is considered. The desired controller, along with non-ideal anomalies and disturbances, is treated as participants, transforming the FTC problem into a multi-player non-cooperative game. Moreover, a single critic neural network (NN) is utilized to alleviate the challenges associated with solving a partial differential equation, thereby facilitating the derivation of the ideal control law. Compared to traditional local information-based control methods, the proposed approach incorporates neighborhood information. It integrates faults, disturbances, and propagation effects within a unified framework for optimal control, enhancing FTC effectiveness. We conduct comparative experiments using a four-craft scenario on the dSPACE platform. The results demonstrate that the proposed method reduces the mean absolute deviation (MAD) of local tracking error by at least 28.00% and the standard deviation (STD) by at least 7.76% compared to the other two methods.