{"id":"https://openalex.org/W4308687980","doi":"https://doi.org/10.1109/tcyb.2022.3218377","title":"Distributed Adaptive Fault-Tolerant Formation\u2013Containment Control With Prescribed Performance for Heterogeneous Multiagent Systems","display_name":"Distributed Adaptive Fault-Tolerant Formation\u2013Containment Control With Prescribed Performance for Heterogeneous Multiagent Systems","publication_year":2022,"publication_date":"2022-11-10","ids":{"openalex":"https://openalex.org/W4308687980","doi":"https://doi.org/10.1109/tcyb.2022.3218377","pmid":"https://pubmed.ncbi.nlm.nih.gov/36355722"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2022.3218377","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2022.3218377","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/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"],"raw_orcid":"https://orcid.org/0000-0002-1079-134X","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/A5019157263","display_name":"Bin Jiang","orcid":"https://orcid.org/0000-0003-2696-5436"},"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"],"raw_orcid":"https://orcid.org/0000-0003-2696-5436","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/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":false,"raw_author_name":"Yajie Ma","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-8040-4085","affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047094357","display_name":"Zehui Mao","orcid":"https://orcid.org/0000-0002-3189-5359"},"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":"Zehui Mao","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-3189-5359","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":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I9842412"],"apc_list":null,"apc_paid":null,"fwci":7.0201,"has_fulltext":false,"cited_by_count":82,"citation_normalized_percentile":{"value":0.97675664,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"53","issue":"12","first_page":"7787","last_page":"7799"},"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/T11133","display_name":"UAV Applications and Optimization","score":0.9925000071525574,"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"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9912999868392944,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/convex-hull","display_name":"Convex hull","score":0.658720076084137},{"id":"https://openalex.org/keywords/containment","display_name":"Containment (computer programming)","score":0.6559326648712158},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6417986750602722},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.6363683342933655},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6293113231658936},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5726268291473389},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.5007057189941406},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.496711790561676},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.485929399728775},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.47932183742523193},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.46153175830841064},{"id":"https://openalex.org/keywords/information-exchange","display_name":"Information exchange","score":0.43447136878967285},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.42861640453338623},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4163469970226288},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35911521315574646},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.35329508781433105},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.1832924783229828},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08536019921302795},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07275643944740295},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.0663653016090393}],"concepts":[{"id":"https://openalex.org/C206194317","wikidata":"https://www.wikidata.org/wiki/Q1138624","display_name":"Convex hull","level":3,"score":0.658720076084137},{"id":"https://openalex.org/C2777019822","wikidata":"https://www.wikidata.org/wiki/Q390066","display_name":"Containment (computer programming)","level":2,"score":0.6559326648712158},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6417986750602722},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.6363683342933655},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6293113231658936},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5726268291473389},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.5007057189941406},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.496711790561676},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.485929399728775},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.47932183742523193},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.46153175830841064},{"id":"https://openalex.org/C189693848","wikidata":"https://www.wikidata.org/wiki/Q6031064","display_name":"Information exchange","level":2,"score":0.43447136878967285},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.42861640453338623},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4163469970226288},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35911521315574646},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.35329508781433105},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.1832924783229828},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08536019921302795},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07275643944740295},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0663653016090393},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2022.3218377","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2022.3218377","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},{"id":"pmid:36355722","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36355722","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1081830638","display_name":null,"funder_award_id":"MCMS-I-0121G03","funder_id":"https://openalex.org/F4320327014","funder_display_name":"State Key Laboratory of Mechanics and Control of Mechanical Structures"},{"id":"https://openalex.org/G1798476397","display_name":null,"funder_award_id":"BK20211566","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"},{"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/G5201699523","display_name":null,"funder_award_id":"20200007018001","funder_id":"https://openalex.org/F4320322857","funder_display_name":"Aeronautical 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"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322857","display_name":"Aeronautical Science Foundation of China","ror":"https://ror.org/02wq41p38"},{"id":"https://openalex.org/F4320327014","display_name":"State Key Laboratory of Mechanics and Control of Mechanical Structures","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1902963647","https://openalex.org/W1969487368","https://openalex.org/W1982947074","https://openalex.org/W1987583608","https://openalex.org/W1999399806","https://openalex.org/W2007453291","https://openalex.org/W2035945038","https://openalex.org/W2042733674","https://openalex.org/W2101959500","https://openalex.org/W2104708700","https://openalex.org/W2122513851","https://openalex.org/W2124234993","https://openalex.org/W2156998846","https://openalex.org/W2167040191","https://openalex.org/W2171541961","https://openalex.org/W2289973938","https://openalex.org/W2514534586","https://openalex.org/W2569044767","https://openalex.org/W2618375042","https://openalex.org/W2733753647","https://openalex.org/W2739569203","https://openalex.org/W2758644005","https://openalex.org/W2792410047","https://openalex.org/W2793582886","https://openalex.org/W2794747838","https://openalex.org/W2801378221","https://openalex.org/W2891792245","https://openalex.org/W2900162782","https://openalex.org/W2901842942","https://openalex.org/W2912778211","https://openalex.org/W2938322754","https://openalex.org/W2950978282","https://openalex.org/W2968521751","https://openalex.org/W3008033278","https://openalex.org/W3008959010","https://openalex.org/W3011445504","https://openalex.org/W3027328454","https://openalex.org/W3104756413","https://openalex.org/W3129200367"],"related_works":["https://openalex.org/W4252941105","https://openalex.org/W2058080364","https://openalex.org/W2350808199","https://openalex.org/W249480812","https://openalex.org/W3028091058","https://openalex.org/W1537080923","https://openalex.org/W1541125785","https://openalex.org/W2736009912","https://openalex.org/W2998850933","https://openalex.org/W2889555279"],"abstract_inverted_index":{"This":[0],"article":[1],"proposes":[2],"a":[3],"distributed":[4,43],"adaptive":[5,78,106],"fault-tolerant":[6,44,79],"formation-containment":[7,125],"control":[8,46,158],"with":[9,134],"prescribed":[10,140],"performance":[11,127],"for":[12,50,113],"heterogeneous":[13],"multiagent":[14],"systems":[15,148],"(MASs)":[16],"consisting":[17],"of":[18,32,54,83,86,155],"multiple":[19],"unmanned":[20,25],"aerial":[21],"vehicles":[22,27],"(UAVs)":[23],"and":[24,70,118,121],"ground":[26],"(UGVs)":[28],"in":[29],"the":[30,37,42,51,59,67,72,77,84,87,93,97,102,114,135,139,153,156],"presence":[31],"actuator":[33,119],"faults.":[34,123],"First,":[35],"utilizing":[36],"neighborhood":[38],"formation":[39,45,60,74],"error":[40],"information,":[41],"strategy":[47],"is":[48,89,109,128,149],"developed":[49],"trajectory":[52],"dynamics":[53],"each":[55],"UAV":[56],"to":[57,91,96,111,151],"achieve":[58],"tracking,":[61],"that":[62],"is,":[63],"all":[64],"UAVs":[65],"track":[66],"virtual":[68],"leader":[69,103],"perform":[71],"prespecified":[73],"configuration.":[75],"Then,":[76],"containment":[80],"algorithm,":[81],"independent":[82],"positions":[85],"leaders,":[88],"proposed":[90,157],"guarantee":[92],"UGVs":[94],"converge":[95],"convex":[98],"hull":[99],"formed":[100],"by":[101],"UAVs.":[104],"The":[105,124],"estimation":[107],"scheme":[108],"constructed":[110],"compensate":[112],"unknown":[115],"system":[116],"parameters":[117],"loss-of-effectiveness":[120],"bias":[122],"tracking":[126],"analyzed":[129],"based":[130,145],"on":[131,146],"Lyapunov":[132],"theory":[133],"synchronization":[136],"errors":[137],"satisfying":[138],"performance.":[141],"A":[142],"simulation":[143],"example":[144],"UAVs-UGVs":[147],"adopted":[150],"verify":[152],"effectiveness":[154],"strategy.":[159]},"counts_by_year":[{"year":2026,"cited_by_count":20},{"year":2025,"cited_by_count":30},{"year":2024,"cited_by_count":26},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
