Fuzzy Adaptive Fixed-Time Bipartite Consensus Self-Triggered Control for Multi-QUAVs with Deferred Full-State Constraints

Round 1

Reviewer 1 Report

Comments and Suggestions for Authors

This manuscript investigates the self-triggered adaptive fuzzy fixed-time bipartite consensus control for MQUAVs under deferred full-state constraints. The obtained results seem to be mathematically correct, and the presented simulation results verify the effectiveness of the developed scheme. The list of comments is suggested to be concerned to obtain an improved version.

1. Themodified nonlinear transformation function is designed to handle multi-constraint scenarios, but the paper lacks detailed discussions of the processing capability of the scheme. It is suggested to supplement the relevant analysis to ensure the rigor of the obtained results.
2. Clarify the specific restrictions on feasibility conditions in traditional barrier functions and how these restrictions impact control performance and system stability. What mathematical methods do the authors use to eliminate the above restrictions?
3. Regarding the singularity problem, if fractional power terms are excluded from virtual control signals, does this guarantee singularity-free operation? Beyond hyperbolic tangent functions, what other methodologies could prevent singularities?
4. Although the manuscript presents a comparative analysis with existing methods, it could benefit from a deeper contextual discussion on how the constructed interval type-2 fuzzy logic systems specifically address the limitations found in those existing methodologies.
5. It is recommended that the suggested self-triggered communication protocol be compared with existing event-triggered control methods in the simulation to verify its advantages.
6. The manuscript presents a comparative analysis with the existing control results and would have benefited from a deeper contextual discussion of the advantages and disadvantages of the proposed control scheme. Future possibilities and extensions could be discussed in the conclusion based on the current work.

 

Author Response

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Author Response File: Author Response.pdf

Reviewer 2 Report

Comments and Suggestions for Authors

The paper presents a novel control scheme for MQUAVs under cooperative-antagonistic interactions. The study addresses challenges such as deferred full-state constraints, input saturation, and bandwidth limitations. Key contributions include the development of a modified UNTF to handle deferred constraints without feasibility conditions, an interval type-2 fuzzy logic system for adaptive control, and a self-triggered mechanism to reduce bandwidth consumption. The proposed method ensures fixed-time stability and adherence to state constraints, validated through simulations.

Areas for Improvement:

1. While simulations are provided, real-world experiments or comparisons with existing methods (e.g., BLF-based approaches) would strengthen the claims of superiority and practicality.
2. The computational load of IT2FLS and STM for large-scale MQUAV swarms is not addressed. This could be a limitation for real-time applications.
3. As equation (7), the UNTF construction is central to the paper. A figure or example illustrating its behavior (e.g., how it enforces constraints over time) would aid understanding.
4. The motivation for fixed-time control over finite-time control needs clarification. The text states that finite-time settling time depends on initial conditions, but does not explicitly explain why this is problematic for MQUAVs.
5. As figure 2 and figure 3, the Euler angle trajectories should include dashed lines marking the time-varying constraints to visually validate adherence.

Author Response

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Author Response File: Author Response.pdf

Reviewer 3 Report

Comments and Suggestions for Authors

The present work addresses the design of a fuzzy adaptive fixed-time bipartite consensus self-triggered control for multiple quad-rotor aerial vehicles (QUAVs) with deferred full-state constraints. Numerical examples are presented to substantiate the effectiveness of the proposed control scheme. After the review, the following comments arise:

1. Some equations lack numbers; please enumerate all the equations.

2. The authors must compare their controller performance with the controllers' performance existing in the literature (at least one of them), aiming to provide a clear comparative frame of the benefits of the proposed controller.

3. The graphs must be changed, including the results obtained with the literature controller tested.

4. A Table with the numerical data of the performance study must be included.

5. The discussion of the result must be updated with the result obtained by comparing the controllers existing in the literature.

6. The conclusion must be rewritten based on the findings obtained in the results section.

Author Response

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Author Response File: Author Response.pdf

Round 2

Reviewer 1 Report

Comments and Suggestions for Authors

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Comments for author File: Comments.pdf

Author Response

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Author Response File: Author Response.pdf

Round 3

Reviewer 1 Report

Comments and Suggestions for Authors

All problems have been well addressed, and the manuscript can be accepted.