Decentralized Adaptive Fault-Tolerant Cooperative Control for Multiple UAVs with Input Saturation and State Constraints
Why this work is in the frame
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Bibliographic record
Abstract
This paper proposes a fault-tolerant cooperative control (FTCC) scheme for multiple UAVs in a distributed communication network against input saturation, full-state constraints, actuator faults, and unknown dynamics. Firstly, by considering physical limitations, an auxiliary control signal is designed to simplify the analysis process. Secondly, to avoid the difficulty in the back-stepping design caused by full-state constraints, virtual control signals are constructed to transform constrained variables, while the dynamic surface control is adopted to avoid the phenomenon of “differential explosion.” Thirdly, a disturbance observer (DO) is designed to estimate the unknown uncertainty caused by parameter uncertainty and actuator fault. Moreover, a recurrent wavelet fuzzy neural network (RWFNN) is used to compensate for the estimation errors of DO. Finally, it is proved that all states are uniformly ultimately bounded (UUB) by Lyapunov and invariant set theory. The effectiveness of the proposed scheme is further demonstrated by the simulation results.
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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) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 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