Decentralized Adaptive Fault-Tolerant Cooperative Control of Multi-UAVs Under Actuator Faults and Directed Communication Topology
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Bibliographic record
Abstract
In this paper, a decentralized adaptive fault-tolerant cooperative control scheme is proposed to achieve the attitude synchronization tracking control of multiple unmanned aerial vehicles (multi-UAVs) with actuator faults and directed communication topology. To alleviate the adverse effects caused by the in-flight actuator faults, adaptive laws are constructed and integrated into the developed attitude synchronization control scheme to enhance the formation flight safety by using the neural networks. The distinctive feature of the proposed method is to address the fault-tolerant attitude synchronization tracking control problem in a decentralized framework with directed communications. It is shown that the tracking and synchronization of multi-UAVs with respect to the desired attitudes can be achieved. Simulation results are provided to demonstrate the effectiveness of the proposed control approach.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it