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.

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 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 short paper develops an adaptive compensation control scheme for two physically linked two-wheel-drive mobile robots with multiple actuator faults. Kinematic and dynamic models are first proposed. Then, an adaptive control scheme is designed, which ensures system stability and asymptotic tracking properties. Simulation results verify its effectiveness.