This article proposes a distributed adaptive fault-tolerant formation–containment control with prescribed performance for heterogeneous multiagent systems (MASs) consisting of multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) in the presence of actuator faults. First, utilizing the neighborhood formation error information, the distributed fault-tolerant formation control strategy is developed for the trajectory dynamics of each UAV to achieve the formation tracking, that is, all UAVs track the virtual leader and perform the prespecified formation configuration. Then, the adaptive fault-tolerant containment algorithm, independent of the positions of the leaders, is proposed to guarantee the UGVs converge to the convex hull formed by the leader UAVs. The adaptive estimation scheme is constructed to compensate for the unknown system parameters and actuator loss-of-effectiveness and bias faults. The formation–containment tracking performance is analyzed based on Lyapunov theory with the synchronization errors satisfying the prescribed performance. A simulation example based on UAVs–UGVs systems is adopted to verify the effectiveness of the proposed control strategy.

This paper investigates the fault-tolerant formation control problem for heterogeneous multi-agent systems (MASs) consisting of quad-rotor unmanned aerial vehicles (UAVs) and two-wheel driven unmanned ground vehicles (UGVs) in the presence of multiple actuator faults. The heterogeneous dynamic characteristics and the uncertainties of the control gain matrix generated by actuator faults, especially the sudden changes to system structure due to finite sequential faults increase the difficulty of the formation control design. The dynamic models of UAVs and UGVs are first transformed to obtain the $XOY$ two-dimensional position formation systems of UAVs-UGVs and the $Z$ -axis altitude system of UAVs. Then, a distributed adaptive direct fault compensation control strategy is designed for the position system of the UAVs-UGVs and the $Z$ -axis altitude subsystems of UAVs, respectively, which can guarantee the expected formation structure under the influence of finite sequential faults. A simulation study based on the UAVs-UGVs cooperative systems is adopted to demonstrate the validity of the proposed fault compensation strategy.

In this paper, we investigate the distributed adaptive fault-tolerant formation control problem for a group of heterogeneous multiagent systems consisting of multiple follower unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) with parametric uncertainties and communication link faults. Based on the local states information of the vehicles, the adaptive fault-tolerant formation control protocol with varying control gains is developed for each follower UAV and UGV such that all followers track the dynamic trajectory of the virtual leader and obtain the expected formation configuration simultaneously under the influence of communication link faults and external disturbances. The distributed formation tracking convergence performance is discussed through Lyapunov theory. Finally, a simulation study based on the UAVs-UGVs collaborative systems is provided to show the effectiveness of the developed control strategy.

This article proposes a zero-sum differential game-based control scheme for a class of affine nonlinear control systems with actuator faults, including loss of control, loss of effectiveness, and bias faults. In the control design, the bias faults and the control signal are chosen as the two opposite sides. The Nash equilibrium is achieved while the optimal control signal and the upper bound of bias faults can be derived from the Hamilton–Jacobi–Isaacs (HJI) equation. An adaptive dynamic programming (ADP) method is employed to estimate the weight of the critic network. The developed zero-sum differential game-based control scheme can ensure the system stability and optimal performance. Two simulation results on a numerical system and a rigid spacecraft model illustrate the effectiveness of the proposed control scheme.

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.