{"id":"https://openalex.org/W4377079733","doi":"https://doi.org/10.1109/taes.2023.3277424","title":"Adaptive Fault-Tolerant Formation Control for Heterogeneous UAVs-UGVs Systems With Multiple Actuator Faults","display_name":"Adaptive Fault-Tolerant Formation Control for Heterogeneous UAVs-UGVs Systems With Multiple Actuator Faults","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4377079733","doi":"https://doi.org/10.1109/taes.2023.3277424"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2023.3277424","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2023.3277424","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090590306","display_name":"Yajie Ma","orcid":"https://orcid.org/0000-0002-8040-4085"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yajie Ma","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Bin Jiang","orcid":"https://orcid.org/0000-0003-3458-9303"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Jiang","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091976701","display_name":"Juan Wang","orcid":"https://orcid.org/0000-0001-9402-5564"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Juan Wang","raw_affiliation_strings":["AVIC Jincheng Nanjing Engineering Institute of Aircraft System, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"AVIC Jincheng Nanjing Engineering Institute of Aircraft System, Nanjing, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069513330","display_name":"Jianye Gong","orcid":"https://orcid.org/0000-0002-1079-134X"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianye Gong","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5090590306"],"corresponding_institution_ids":["https://openalex.org/I9842412"],"apc_list":null,"apc_paid":null,"fwci":9.785,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.98529848,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"11"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5804944038391113},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5601008534431458},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5373889803886414},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.5214985013008118},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48852503299713135},{"id":"https://openalex.org/keywords/notation","display_name":"Notation","score":0.48335736989974976},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.44883227348327637},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43575331568717957},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.43429166078567505},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4175177812576294},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34332969784736633},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3082053065299988},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28748780488967896},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27323755621910095},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2005167007446289},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.1913301944732666},{"id":"https://openalex.org/keywords/arithmetic","display_name":"Arithmetic","score":0.07648000121116638}],"concepts":[{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5804944038391113},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5601008534431458},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5373889803886414},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.5214985013008118},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48852503299713135},{"id":"https://openalex.org/C45357846","wikidata":"https://www.wikidata.org/wiki/Q2001982","display_name":"Notation","level":2,"score":0.48335736989974976},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.44883227348327637},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43575331568717957},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.43429166078567505},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4175177812576294},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34332969784736633},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3082053065299988},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28748780488967896},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27323755621910095},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2005167007446289},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.1913301944732666},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.07648000121116638},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/taes.2023.3277424","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2023.3277424","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2381885747","display_name":null,"funder_award_id":"62020106003","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G394119808","display_name":null,"funder_award_id":"62273177","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8282870106","display_name":null,"funder_award_id":"62233009","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W2042733674","https://openalex.org/W2072020080","https://openalex.org/W2099175737","https://openalex.org/W2140760475","https://openalex.org/W2145554346","https://openalex.org/W2342050296","https://openalex.org/W2344745807","https://openalex.org/W2345094194","https://openalex.org/W2348361713","https://openalex.org/W2499597001","https://openalex.org/W2569936963","https://openalex.org/W2570710185","https://openalex.org/W2589573742","https://openalex.org/W2590210788","https://openalex.org/W2597173574","https://openalex.org/W2780728803","https://openalex.org/W2795623602","https://openalex.org/W2883515341","https://openalex.org/W2889760800","https://openalex.org/W2900162782","https://openalex.org/W2908060113","https://openalex.org/W2940830480","https://openalex.org/W2962840228","https://openalex.org/W2978292403","https://openalex.org/W3006414217","https://openalex.org/W3007913606","https://openalex.org/W3020884730","https://openalex.org/W3035796531","https://openalex.org/W3036844951","https://openalex.org/W3039908810","https://openalex.org/W3104556767","https://openalex.org/W3156127765","https://openalex.org/W3202892210","https://openalex.org/W4200530466","https://openalex.org/W4285028503"],"related_works":["https://openalex.org/W2504004674","https://openalex.org/W1595229445","https://openalex.org/W2498744856","https://openalex.org/W4390482104","https://openalex.org/W322408318","https://openalex.org/W149041114","https://openalex.org/W2963177394","https://openalex.org/W1965815883","https://openalex.org/W4313359513","https://openalex.org/W763418848"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"the":[3,28,39,42,51,63,66,82,94,116,120,123,137,142,153,161,164],"fault-tolerant":[4],"formation":[5,67,89,139],"control":[6,43,68,111],"problem":[7],"for":[8,115],"heterogeneous":[9,35],"multi-agent":[10],"systems":[11,90,156],"(MASs)":[12],"consisting":[13],"of":[14,30,41,65,73,91,102,119,131,144,163],"quad-rotor":[15],"unmanned":[16,23],"aerial":[17],"vehicles":[18,25],"(UAVs)":[19],"and":[20,38,75,93,122],"two-wheel":[21],"driven":[22],"ground":[24],"(UGVs)":[26],"in":[27],"presence":[29],"multiple":[31],"actuator":[32,48],"faults.":[33,147],"The":[34,70],"dynamic":[36,71],"characteristics":[37],"uncertainties":[40],"gain":[44],"matrix":[45],"generated":[46],"by":[47],"faults,":[49],"especially":[50],"sudden":[52],"changes":[53],"to":[54,58,80,159],"system":[55,101,118],"structure":[56,140],"due":[57],"finite":[59,145],"sequential":[60,146],"faults":[61],"increase":[62],"difficulty":[64],"design.":[69],"models":[72],"UAVs":[74],"UGVs":[76],"are":[77],"first":[78],"transformed":[79],"obtain":[81],"<inline-formula":[83,95,124],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[84,96,125],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[85,97,126],"notation=\"LaTeX\">$XOY$</tex-math></inline-formula>":[86],"two-dimensional":[87],"position":[88,117],"UAVs-UGVs":[92,121,154],"notation=\"LaTeX\">$Z$</tex-math></inline-formula>":[98,127],"-axis":[99,128],"altitude":[100,129],"UAVs.":[103],"Then,":[104],"a":[105],"distributed":[106],"adaptive":[107],"direct":[108],"fault":[109,166],"compensation":[110,167],"strategy":[112],"is":[113,157],"designed":[114],"subsystems":[130],"UAVs,":[132],"respectively,":[133],"which":[134],"can":[135],"guarantee":[136],"expected":[138],"under":[141],"influence":[143],"A":[148],"simulation":[149],"study":[150],"based":[151],"on":[152],"cooperative":[155],"adopted":[158],"demonstrate":[160],"validity":[162],"proposed":[165],"strategy.":[168]},"counts_by_year":[{"year":2025,"cited_by_count":27},{"year":2024,"cited_by_count":21},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
