IDEAS home Printed from https://ideas.repec.org/a/taf/tsysxx/v56y2025i7p1442-1456.html
   My bibliography  Save this article

Distributed adaptive finite-time fault-tolerant cooperative control of heterogeneous multi-agent systems with saturation and disturbances

Author

Listed:
  • Shangkun Liu
  • Bin Jiang
  • Zehui Mao
  • Youmin Zhang
  • Jie Huang

Abstract

In this paper, the issue of distributed adaptive finite-time fault-tolerant cooperative control (FT-FTCC) problem is investigated for multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) with unknown parameter uncertainties, actuator faults, input saturation and external disturbances. Starting from the dynamic models of the UAVs and UGVs, an unified control model is presented. Then, a sliding-mode estimator is presented to estimate the position of the leader for the followers which only uses the information from neighbours. Next, a distributed adaptive FT-FTCC scheme, which can also deal with the uncertainties, actuator faults, input saturation and disturbances, is proposed by utilising disturbance observers and neural networks. Based on Lyapunov function approach, the tracking errors of all followers subject to the pre-defined desired positions are uniformly ultimately bounded. Finally, simulations are given to validate the efficiency of the developed FT-FTCC scheme.

Suggested Citation

  • Shangkun Liu & Bin Jiang & Zehui Mao & Youmin Zhang & Jie Huang, 2025. "Distributed adaptive finite-time fault-tolerant cooperative control of heterogeneous multi-agent systems with saturation and disturbances," International Journal of Systems Science, Taylor & Francis Journals, vol. 56(7), pages 1442-1456, May.
  • Handle: RePEc:taf:tsysxx:v:56:y:2025:i:7:p:1442-1456
    DOI: 10.1080/00207721.2024.2427848
    as

    Download full text from publisher

    File URL: http://hdl.handle.net/10.1080/00207721.2024.2427848
    Download Restriction: Access to full text is restricted to subscribers.

    File URL: https://libkey.io/10.1080/00207721.2024.2427848?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:taf:tsysxx:v:56:y:2025:i:7:p:1442-1456. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Chris Longhurst (email available below). General contact details of provider: http://www.tandfonline.com/TSYS20 .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.