An Adaptive Fault-Tolerant Control Scheme for Heterogeneous Multiagent Systems
Abstract
This article proposes an adaptive fault-tolerant control (FTC) scheme for heterogeneous multiagent systems with time-varying communication link faults and actuator faults. First, the communication link faults, including the channel signal fading and cyber bias attack, is considered, and the communication link fault compensation controller is designed through introducing the adaptive signals with the estimate of the norms of the faulty matrix. Then, by using the minimum eigenvalue of the control gain matrix, the minimum-eigenvalue-based adaptive fault-tolerant controller is proposed to compensate for the time-varying actuator loss of effectiveness and bias faults. Moreover, the convergence performance analysis of the developed FTC algorithm is given based on the Lyapunov theory. The simulation results carried out on the quadrotors-unmanned ground vehicles formation systems validate the effectiveness of the theoretical results.
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Bioinspired techniques enhance adaptability in swarms and refine precision in manipulators, while supporting uptime in agriculture.
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From Hybrid Fault-Tolerant Control in Cooperative Robotics: Advances in Resilience and Scalability (2025) · cites this paper as [8]
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“Hybrid Artificial Intelligence (AI) methods integrate fuzzy logic, neural networks, and RL with a three-layer fusion model, improving efficiency in multi-agent HRC [8,41], with moderate overhead [42].”
From Hybrid Fault-Tolerant Control in Cooperative Robotics: Advances in Resilience and Scalability (2025) · cites this paper as [8]
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- Authors
- Gong, J., Ma, Y., Jiang, B., Zhang, Y., & Guo, L.
- Affiliations
- Nanjing University of Aeronautics and Astronautics (CN)
- Concordia University (CA)
- Anhui Polytechnic University (CN)
- Venue
- IEEE Transactions on Systems, Man, and Cybernetics: Systems
- Published
- 2025-02
- Volume
- 55
- Issue
- 2
- Pages
- 1264-1276
- ISSN
- 2168-2216 (ISSN-L)
- 2168-2232
- OpenAlex
- W4404809874
- Cited by
- 25
- References
- 36
- Citations by year
- 2026: 15 · 2025: 10
- FWCI
- 4.16
- Type
- journal article
- Language
- en
- Open access
- closed
- Licence
- Locations
- IEEE Transactions on Systems Man and Cybernetics Systems (publishedVersion)
- Funders
- National Natural Science Foundation of China (62020106003, 62273177, 62233009)
- Natural Science Foundation of Jiangsu Province of China (BK20222012, BK20211566)
- Fundamental Research Funds for the Central Universities (NI2024001)
- Scientific Start up Fund for Introducing Talents of Anhui Polytechnic University (2022YQQ052)
- Natural Science Research Project of Anhui Province Universities (2023AH040121)
- Open Fund of the National Key Laboratory of Helicopter Aeromechanics (2024-ZSJ-LB-02-04)
- Topics
- Physical Sciences › Computer Science › Computer Networks and Communications › Distributed Control Multi-Agent Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Stability and Control of Uncertain Systems
- Keywords
- adaptive fault-tolerant control, heterogeneous multi-agent systems, actuator faults, fault compensation, unmanned ground vehicles
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