{"id":"https://openalex.org/W7131386574","doi":"https://doi.org/10.1109/tcyb.2026.3662437","title":"Adaptive Prescribed-Time Dynamic Self-Triggered Time-Varying Bipartite Formation Control for Uncertain Nonlinear Multiagent Systems With Actuator Faults","display_name":"Adaptive Prescribed-Time Dynamic Self-Triggered Time-Varying Bipartite Formation Control for Uncertain Nonlinear Multiagent Systems With Actuator Faults","publication_year":2026,"publication_date":"2026-02-25","ids":{"openalex":"https://openalex.org/W7131386574","doi":"https://doi.org/10.1109/tcyb.2026.3662437","pmid":"https://pubmed.ncbi.nlm.nih.gov/41740100"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2026.3662437","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2026.3662437","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/A5126779725","display_name":"Yu Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Zhang","raw_affiliation_strings":["School of Mathematics, Shandong University, Jinan, Shandong, China"],"raw_orcid":"https://orcid.org/0000-0002-1018-9762","affiliations":[{"raw_affiliation_string":"School of Mathematics, Shandong University, Jinan, Shandong, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122766944","display_name":"Yongbao Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yongbao Wu","raw_affiliation_strings":["School of Physical and Mathematical Sciences, Nanyang Technological University, Jurong West, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-7670-7393","affiliations":[{"raw_affiliation_string":"School of Physical and Mathematical Sciences, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126786134","display_name":"Shuping Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuping Ma","raw_affiliation_strings":["School of Mathematics, Shandong University, Jinan, Shandong, China"],"raw_orcid":"https://orcid.org/0000-0003-3591-6361","affiliations":[{"raw_affiliation_string":"School of Mathematics, Shandong University, Jinan, Shandong, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022778275","display_name":"Kang Hao Cheong","orcid":"https://orcid.org/0000-0002-4475-5451"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Kang Hao Cheong","raw_affiliation_strings":["School of Physical and Mathematical Sciences, Nanyang Technological University, Jurong West, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-4475-5451","affiliations":[{"raw_affiliation_string":"School of Physical and Mathematical Sciences, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":24.7477,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.991647,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"56","issue":"4","first_page":"1945","last_page":"1957"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.507099986076355,"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":0.507099986076355,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.13660000264644623,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.08079999685287476,"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/control-theory","display_name":"Control theory (sociology)","score":0.704200029373169},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6140000224113464},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.6108999848365784},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.54830002784729},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5175999999046326},{"id":"https://openalex.org/keywords/settling-time","display_name":"Settling time","score":0.501800000667572},{"id":"https://openalex.org/keywords/bipartite-graph","display_name":"Bipartite graph","score":0.48350000381469727},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.4569999873638153}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.704200029373169},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6607999801635742},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6140000224113464},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.6108999848365784},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.54830002784729},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5175999999046326},{"id":"https://openalex.org/C14781684","wikidata":"https://www.wikidata.org/wiki/Q3983320","display_name":"Settling time","level":3,"score":0.501800000667572},{"id":"https://openalex.org/C197657726","wikidata":"https://www.wikidata.org/wiki/Q174733","display_name":"Bipartite graph","level":3,"score":0.48350000381469727},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.4569999873638153},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4180999994277954},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3634999990463257},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.3449000120162964},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3334999978542328},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3294999897480011},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.322299987077713},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.29750001430511475},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.27090001106262207},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.266400009393692},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26179999113082886}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tcyb.2026.3662437","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2026.3662437","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:41740100","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/41740100","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},{"id":"pmh:oai:dr.ntu.edu.sg:10356/211200","is_oa":false,"landing_page_url":"https://hdl.handle.net/10356/211200","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.868061900138855,"display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G4074511661","display_name":null,"funder_award_id":"62573264","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7031715280","display_name":null,"funder_award_id":"61977042","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W1967509640","https://openalex.org/W1982974281","https://openalex.org/W1994331821","https://openalex.org/W2071583232","https://openalex.org/W2075175322","https://openalex.org/W2134212165","https://openalex.org/W2146890818","https://openalex.org/W2598008934","https://openalex.org/W2790884969","https://openalex.org/W2791433162","https://openalex.org/W2800384809","https://openalex.org/W2885902201","https://openalex.org/W2943555865","https://openalex.org/W2972270416","https://openalex.org/W3002448192","https://openalex.org/W3015193177","https://openalex.org/W3033144026","https://openalex.org/W3091888124","https://openalex.org/W3157711288","https://openalex.org/W3174955147","https://openalex.org/W3183148359","https://openalex.org/W4200485678","https://openalex.org/W4205186082","https://openalex.org/W4213197047","https://openalex.org/W4224038448","https://openalex.org/W4241629868","https://openalex.org/W4285177120","https://openalex.org/W4293173910","https://openalex.org/W4295872247","https://openalex.org/W4296871656","https://openalex.org/W4304479966","https://openalex.org/W4306760227","https://openalex.org/W4312199836","https://openalex.org/W4312434028","https://openalex.org/W4315489467","https://openalex.org/W4323065953","https://openalex.org/W4387092566","https://openalex.org/W4387146033","https://openalex.org/W4390268307","https://openalex.org/W4391326566","https://openalex.org/W4391952420","https://openalex.org/W4392120299","https://openalex.org/W4393942809","https://openalex.org/W4393948478","https://openalex.org/W4396629500","https://openalex.org/W4397026604","https://openalex.org/W4402350581","https://openalex.org/W4403614863","https://openalex.org/W4406320671","https://openalex.org/W4406728014","https://openalex.org/W4407946263","https://openalex.org/W4408304994","https://openalex.org/W4410775064","https://openalex.org/W4411599986","https://openalex.org/W4414693485"],"related_works":[],"abstract_inverted_index":{"This":[0,162],"article":[1],"develops":[2],"a":[3,132,165],"self-triggered":[4,135],"prescribed-time":[5],"(PT)":[6],"smooth":[7],"bipartite":[8,107,157],"formation":[9,31,108,158],"tracking":[10,98,109,159],"control":[11,32,136,182],"(BFTC)":[12],"strategy":[13],"for":[14,30,45,101],"uncertain":[15],"nonlinear":[16,56],"multiagent":[17,46],"systems":[18,47],"(NMASs)":[19],"operating":[20],"over":[21],"directed":[22],"graphs.":[23],"An":[24],"adaptive":[25],"backstepping":[26],"framework":[27],"is":[28,139],"employed":[29,74],"design.":[33],"To":[34],"enhance":[35,142],"the":[36,114,125,148,177,180],"applicability":[37],"of":[38,179],"distributed":[39,133],"protocols,":[40],"we":[41],"investigate":[42],"practical":[43,102],"BFTC":[44],"(MASs)":[48],"with":[49,113],"followers":[50],"that":[51],"are":[52,73],"subject":[53],"to":[54,75,91,141],"unknown":[55],"dynamics,":[57],"external":[58],"disturbances,":[59],"and":[60,84,171],"actuator":[61],"faults":[62],"within":[63],"cooperative-competitive":[64],"interaction":[65],"topologies.":[66],"Radial":[67],"basis":[68],"function":[69],"neural":[70],"networks":[71],"(RBFNNs)":[72],"approximate":[76],"these":[77],"uncertainties,":[78],"leveraging":[79],"their":[80],"universal":[81],"approximation":[82],"capability":[83],"localized":[85],"response":[86],"characteristics.":[87],"Importantly,":[88],"in":[89],"contrast":[90],"previous":[92],"studies,":[93],"this":[94],"work":[95],"achieves":[96],"user-defined":[97],"performance":[99],"suitable":[100],"NMAS":[103],"implementations.":[104],"The":[105],"proposed":[106,149,181],"controller":[110],"guarantees":[111],"compliance":[112],"user-specified":[115],"settling":[116],"time":[117],"without":[118],"reliance":[119],"on":[120,156],"initial":[121],"conditions.":[122],"Furthermore,":[123],"considering":[124],"constraints":[126],"imposed":[127],"by":[128],"limited":[129],"communication":[130,169],"bandwidth,":[131],"dynamic":[134],"(DSTC)":[137],"mechanism":[138],"developed":[140],"transmission":[143],"efficiency.":[144],"Unlike":[145],"traditional":[146],"strategies,":[147],"DSTC":[150],"dynamically":[151],"adjusts":[152],"triggering":[153],"intervals":[154],"based":[155],"errors":[160],"(BFTEs).":[161],"adaptability":[163],"facilitates":[164],"real-time":[166],"balance":[167],"between":[168],"load":[170],"system":[172],"performance.":[173],"Simulation":[174],"results":[175],"validate":[176],"efficacy":[178],"strategy.":[183]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-07-14T08:27:34.040176","created_date":"2026-02-26T00:00:00"}
