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学者姓名：刘尚坤
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Abstract ：
This article addresses the issue of the adaptive fractional-order fault-tolerant coordinated tracking control (FO-FTCTC) for multiple unmanned aerial vehicles and unmanned ground vehicles with fixed-time prescribed performance subjected to actuator and sensor faults under deception attacks. Deception attacks disrupt the sensor network, making the output and state unavailable. To achieve the tracking control of the system, the coordinate transformation method is developed, in which the attack gains are considered and the compromised states are utilized to design a control scheme. Then, the fixed-time prescribed performance function (PPF) is illustrated to transform the coordinated tracking errors (CTEs) into another error variable so that the unconventional errors are limited to the prescribed range. Next, the sliding-mode surface is built by utilizing the errors and fractional calculus. In addition, the radial basis function neural network is utilized to deal with the unknown term. Based on the error, the adaptive FO-FTCTC scheme by utilizing the radial basis function neural network (RBFNN), fractional calculus, and fixed-time PPF with prescribed performance can be achieved, which can strengthen the system performance. Based on the Lyapunov function approach, all vehicles can coordinately track their desired references and CTEs can be bounded within the prescribed boundary. Finally, simulation studies are provided to verify the validity of the developed FO-FTCTC scheme.
Keyword ：
Actuators Actuators Autonomous aerial vehicles Autonomous aerial vehicles Calculus Calculus Deception attacks Deception attacks Fault tolerance Fault tolerance fault-tolerant coordinated tracking control (FTCTC) fault-tolerant coordinated tracking control (FTCTC) Fault tolerant systems Fault tolerant systems fixed-time prescribed performance function (PPF) fixed-time prescribed performance function (PPF) Fractional calculus Fractional calculus fractional-order control fractional-order control Multi-agent systems Multi-agent systems multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs)
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| GB/T 7714 | Liu, Shangkun , Jiang, Bin , Mao, Zehui et al. Adaptive Fractional-Order Fault-Tolerant Coordinated Tracking Control of Heterogeneous Multiagent Systems Against Multiple Faults Under Deception Attacks [J]. | IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS , 2025 , 61 (2) : 1860-1870 . |
| MLA | Liu, Shangkun et al. "Adaptive Fractional-Order Fault-Tolerant Coordinated Tracking Control of Heterogeneous Multiagent Systems Against Multiple Faults Under Deception Attacks" . | IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS 61 . 2 (2025) : 1860-1870 . |
| APA | Liu, Shangkun , Jiang, Bin , Mao, Zehui , Zhang, Youmin , Huang, Jie . Adaptive Fractional-Order Fault-Tolerant Coordinated Tracking Control of Heterogeneous Multiagent Systems Against Multiple Faults Under Deception Attacks . | IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS , 2025 , 61 (2) , 1860-1870 . |
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Abstract ：
This paper proposes a decentralized adaptive event-triggered fault-tolerant cooperative control (ET-FTCC) scheme for multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) with actuator faults and external disturbances under denial-of-service (DoS) attacks. The multiple UAVs and UGVs have a larger search radius, which is important in both the civilian and military domains. The different dynamics between UAVs and UGVs result in unbalanced interactions in the communication topologies, which increases the complexity of cooperative control. DoS attacks are conducted in both sensor and control channels. The dynamic models of UAVs and UGVs are introduced firstly, and the unified heterogeneous multiagent system model with actuator faults is established. The composite observer is designed to obtain the information of state and lumped disturbance, which is used to design the controller. In order to save the limited communication network resources, the event-triggered mechanism is introduced. The transformed error is presented by using the prescribed performance function (PPF). Then, the sliding-mode manifold is presented by combining the event-triggered control scheme to achieve the tracking purpose with actuator faults, external disturbances, and DoS attacks. Based on the Lyapunov function approach, the tracking errors are bounded within the prescribed boundary. Finally, the effectiveness of the proposed method is verified by qualitative analysis and quantitative analysis of the simulation results. This study can enhance the security and reliability of heterogeneous multiagent systems, providing technical support for the safe operation of unmanned systems. This paper mainly solves the FTCC problem of second-order nonlinear heterogeneous multiagent systems, and further research is needed for the FTCC problem of higher-order nonlinear heterogeneous multi-agent systems. In addition, the system may encounter multiple cyber attacks. As one of the future research works, we can extend the results of this paper to high-order nonlinear systems under multiple cyber attacks, which contain DoS attacks and deception attacks, and achieve fault-tolerant cooperative control of heterogeneous multiagent systems.
Keyword ：
DoS attacks DoS attacks event-triggered mechanism event-triggered mechanism fault-tolerant cooperative control fault-tolerant cooperative control heterogeneous multiagent systems heterogeneous multiagent systems prescribed performance function prescribed performance function
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| GB/T 7714 | Liu, Shangkun , Huang, Jie . Decentralized Adaptive Event-Triggered Fault-Tolerant Cooperative Control of Multiple Unmanned Aerial Vehicles and Unmanned Ground Vehicles with Prescribed Performance under Denial-of-Service Attacks [J]. | MATHEMATICS , 2024 , 12 (17) . |
| MLA | Liu, Shangkun et al. "Decentralized Adaptive Event-Triggered Fault-Tolerant Cooperative Control of Multiple Unmanned Aerial Vehicles and Unmanned Ground Vehicles with Prescribed Performance under Denial-of-Service Attacks" . | MATHEMATICS 12 . 17 (2024) . |
| APA | Liu, Shangkun , Huang, Jie . Decentralized Adaptive Event-Triggered Fault-Tolerant Cooperative Control of Multiple Unmanned Aerial Vehicles and Unmanned Ground Vehicles with Prescribed Performance under Denial-of-Service Attacks . | MATHEMATICS , 2024 , 12 (17) . |
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Abstract ：
面向智慧工厂中的多载位仓储机器人路径规划仿真教学,该文以多仓储机器人多目标配送与多任务冲突的案例作为典型教学内容,提出基于多智能体强化学习任务监管器的多载位仓储机器人路径规划仿真教学模式,设计多载位仓储机器人配送路径最优的仿真教学总体方案,实现多仓储机器人在路径规划过程中的多任务冲突消解,仿真教学案例有效减少了多载位仓储机器人的运输路径长度和避障时间.此设计适用于智慧工厂下智能物流机器人路径规划算法的课程教学,为创新型人才的培养和虚拟仿真实验室的建设提供了参考.
Keyword ：
任务监管器 任务监管器 仿真教学 仿真教学 多智能体强化学习 多智能体强化学习 多载位仓储机器人 多载位仓储机器人 路径规划 路径规划
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| GB/T 7714 | 黄捷 , 詹维捷 , 潘聪捷 et al. 面向智慧工厂的多仓储机器人路径规划仿真教学研究 [J]. | 实验技术与管理 , 2024 , 41 (11) : 100-108 . |
| MLA | 黄捷 et al. "面向智慧工厂的多仓储机器人路径规划仿真教学研究" . | 实验技术与管理 41 . 11 (2024) : 100-108 . |
| APA | 黄捷 , 詹维捷 , 潘聪捷 , 刘尚坤 . 面向智慧工厂的多仓储机器人路径规划仿真教学研究 . | 实验技术与管理 , 2024 , 41 (11) , 100-108 . |
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Abstract ：
This paper addresses the issue of decentralized adaptive event-triggered fault-tolerant synchronization tracking control for multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) with prescribed performance subject to actuator faults and external disturbances. The transformed error is presented by integrating the prescribed performance function into the synchronous tracking errors. Based on the transformed error, the decentralized adaptive event-triggered fault-tolerant synchronization tracking control scheme is developed to achieve the synchronous tracking purpose with prescribed performance subject to actuator faults and external disturbances. Based on Lyapunov theory, the stability of the closed-loop systems is analyzed and the synchronous tracking errors are bounded within the prescribed boundary. Furthermore, the Zeno behavior is also excluded. Finally, simulation studies are provided to verify the efficiency of the proposed control scheme.
Keyword ：
event-triggered mechanism event-triggered mechanism Fault-tolerant synchronization tracking control Fault-tolerant synchronization tracking control multiple UAVs and UGVs multiple UAVs and UGVs prescribed performance prescribed performance
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| GB/T 7714 | Liu, Shangkun , Jiang, Bin , Mao, Zehui et al. Decentralized Adaptive Event-Triggered Fault-Tolerant Synchronization Tracking Control of Multiple UAVs and UGVs With Prescribed Performance [J]. | IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY , 2024 , 73 (7) : 9656-9665 . |
| MLA | Liu, Shangkun et al. "Decentralized Adaptive Event-Triggered Fault-Tolerant Synchronization Tracking Control of Multiple UAVs and UGVs With Prescribed Performance" . | IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 73 . 7 (2024) : 9656-9665 . |
| APA | Liu, Shangkun , Jiang, Bin , Mao, Zehui , Zhang, Youmin . Decentralized Adaptive Event-Triggered Fault-Tolerant Synchronization Tracking Control of Multiple UAVs and UGVs With Prescribed Performance . | IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY , 2024 , 73 (7) , 9656-9665 . |
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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.
Keyword ：
Fault-tolerant cooperative control Fault-tolerant cooperative control finite-time control finite-time control input saturation and external disturbances input saturation and external disturbances multiple UAVs and UGVs multiple UAVs and UGVs
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| GB/T 7714 | Liu, Shangkun , Jiang, Bin , Mao, Zehui et al. Distributed adaptive finite-time fault-tolerant cooperative control of heterogeneous multi-agent systems with saturation and disturbances [J]. | INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE , 2024 , 56 (7) : 1442-1456 . |
| MLA | Liu, Shangkun et al. "Distributed adaptive finite-time fault-tolerant cooperative control of heterogeneous multi-agent systems with saturation and disturbances" . | INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 56 . 7 (2024) : 1442-1456 . |
| APA | Liu, Shangkun , Jiang, Bin , Mao, Zehui , Zhang, Youmin , Huang, Jie . Distributed adaptive finite-time fault-tolerant cooperative control of heterogeneous multi-agent systems with saturation and disturbances . | INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE , 2024 , 56 (7) , 1442-1456 . |
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