Distributed adaptive finite-time fault-tolerant cooperative control of heterogeneous multi-agent systems with saturation and disturbances
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Bibliographic record
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.
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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 | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.002 |
| Open science | 0.002 | 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