{"id":"https://openalex.org/W3163247800","doi":"https://doi.org/10.1109/access.2021.3081483","title":"UAVs-UGV Leader Follower Formation Using Adaptive Non-Singular Terminal Super Twisting Sliding Mode Control","display_name":"UAVs-UGV Leader Follower Formation Using Adaptive Non-Singular Terminal Super Twisting Sliding Mode Control","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3163247800","doi":"https://doi.org/10.1109/access.2021.3081483","mag":"3163247800"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3081483","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3081483","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09433567.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09433567.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018990562","display_name":"Nasim Ullah","orcid":"https://orcid.org/0000-0001-5536-3560"},"institutions":[{"id":"https://openalex.org/I179331831","display_name":"Taif University","ror":"https://ror.org/014g1a453","country_code":"SA","type":"education","lineage":["https://openalex.org/I179331831"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Nasim Ullah","raw_affiliation_strings":["College of Engineering, Taif University, Taif, Saudi Arabia"],"raw_orcid":"https://orcid.org/0000-0001-5536-3560","affiliations":[{"raw_affiliation_string":"College of Engineering, Taif University, Taif, Saudi Arabia","institution_ids":["https://openalex.org/I179331831"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062539563","display_name":"Yasir Mehmood","orcid":"https://orcid.org/0000-0002-6852-5458"},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Yasir Mehmood","raw_affiliation_strings":["School of Mechanical and Manufacturing Engineering, National University of Sciences and Technology, Islamabad, Pakistan"],"raw_orcid":"https://orcid.org/0000-0002-6852-5458","affiliations":[{"raw_affiliation_string":"School of Mechanical and Manufacturing Engineering, National University of Sciences and Technology, Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068145748","display_name":"Jawad Aslam","orcid":"https://orcid.org/0000-0002-8151-5457"},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Jawad Aslam","raw_affiliation_strings":["School of Mechanical and Manufacturing Engineering, National University of Sciences and Technology, Islamabad, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Manufacturing Engineering, National University of Sciences and Technology, Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076676429","display_name":"Amjad Ali","orcid":"https://orcid.org/0000-0001-7112-4922"},"institutions":[{"id":"https://openalex.org/I90610274","display_name":"University of Engineering and Technology Peshawar","ror":"https://ror.org/00p034093","country_code":"PK","type":"education","lineage":["https://openalex.org/I90610274"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Amjad Ali","raw_affiliation_strings":["University of Engineering and Technology, Jalozai Campus, Peshawar, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Engineering and Technology, Jalozai Campus, Peshawar, Pakistan","institution_ids":["https://openalex.org/I90610274"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052786858","display_name":"Jamshed Iqbal","orcid":"https://orcid.org/0000-0002-0795-0282"},"institutions":[{"id":"https://openalex.org/I191240316","display_name":"University of Hull","ror":"https://ror.org/04nkhwh30","country_code":"GB","type":"education","lineage":["https://openalex.org/I191240316"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jamshed Iqbal","raw_affiliation_strings":["Faculty of Science and Engineering, University of Hull, Hull, U.K"],"raw_orcid":"https://orcid.org/0000-0002-0795-0282","affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, University of Hull, Hull, U.K","institution_ids":["https://openalex.org/I191240316"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":2.7318,"has_fulltext":true,"cited_by_count":31,"citation_normalized_percentile":{"value":0.90359773,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"9","issue":null,"first_page":"74385","last_page":"74405"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9988999962806702,"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":0.9882000088691711,"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/terminal-sliding-mode","display_name":"Terminal sliding mode","score":0.8038548231124878},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7601363062858582},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.593670666217804},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5568950176239014},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5462942719459534},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5386016964912415},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5072435736656189},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.46055495738983154},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.44744497537612915},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.4202054738998413},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.41356712579727173},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3250935673713684},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27713489532470703},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22797048091888428},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18141284584999084},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1455794870853424},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07148799300193787}],"concepts":[{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.8038548231124878},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7601363062858582},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.593670666217804},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5568950176239014},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5462942719459534},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5386016964912415},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5072435736656189},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.46055495738983154},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.44744497537612915},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.4202054738998413},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.41356712579727173},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3250935673713684},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27713489532470703},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22797048091888428},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18141284584999084},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1455794870853424},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07148799300193787},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2021.3081483","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3081483","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09433567.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:96ad587b17cd4b139690ad6ccaad118a","is_oa":true,"landing_page_url":"https://doaj.org/article/96ad587b17cd4b139690ad6ccaad118a","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 9, Pp 74385-74405 (2021)","raw_type":"article"},{"id":"pmh:oai:hull-repository.worktribe.com:3796825","is_oa":true,"landing_page_url":"https://hull-repository.worktribe.com/output/3796825","pdf_url":null,"source":{"id":"https://openalex.org/S4306400827","display_name":"Repository@Hull (Worktribe) (University of Hull)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I191240316","host_organization_name":"University of Hull","host_organization_lineage":["https://openalex.org/I191240316"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3081483","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3081483","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09433567.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1925014366","display_name":null,"funder_award_id":"TURSP-2020/144","funder_id":"https://openalex.org/F4320323722","funder_display_name":"Taif University"},{"id":"https://openalex.org/G7299194679","display_name":null,"funder_award_id":"TURSP-2020","funder_id":"https://openalex.org/F4320323722","funder_display_name":"Taif University"}],"funders":[{"id":"https://openalex.org/F4320323722","display_name":"Taif University","ror":"https://ror.org/014g1a453"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3163247800.pdf","grobid_xml":"https://content.openalex.org/works/W3163247800.grobid-xml"},"referenced_works_count":53,"referenced_works":["https://openalex.org/W426715932","https://openalex.org/W805489484","https://openalex.org/W1487127700","https://openalex.org/W1516447630","https://openalex.org/W1517700591","https://openalex.org/W1551426843","https://openalex.org/W1742619683","https://openalex.org/W1957404087","https://openalex.org/W1965940578","https://openalex.org/W1988367613","https://openalex.org/W2007164104","https://openalex.org/W2011233591","https://openalex.org/W2038051530","https://openalex.org/W2039867272","https://openalex.org/W2042106612","https://openalex.org/W2046485500","https://openalex.org/W2091083460","https://openalex.org/W2112166125","https://openalex.org/W2113886060","https://openalex.org/W2126096851","https://openalex.org/W2154892481","https://openalex.org/W2166306230","https://openalex.org/W2224094122","https://openalex.org/W2255665282","https://openalex.org/W2282176601","https://openalex.org/W2415340076","https://openalex.org/W2578908961","https://openalex.org/W2588805538","https://openalex.org/W2599854673","https://openalex.org/W2613864063","https://openalex.org/W2617583018","https://openalex.org/W2676821827","https://openalex.org/W2735467909","https://openalex.org/W2781719918","https://openalex.org/W2790791383","https://openalex.org/W2790935339","https://openalex.org/W2799134332","https://openalex.org/W2917686244","https://openalex.org/W2944247174","https://openalex.org/W2955170523","https://openalex.org/W2968126694","https://openalex.org/W2982230695","https://openalex.org/W2994920965","https://openalex.org/W3008322208","https://openalex.org/W3027704981","https://openalex.org/W3036610339","https://openalex.org/W3043491432","https://openalex.org/W3154633245","https://openalex.org/W4213147678","https://openalex.org/W4256152864","https://openalex.org/W4256153703","https://openalex.org/W6622782076","https://openalex.org/W6749105155"],"related_works":["https://openalex.org/W2356356101","https://openalex.org/W2109651492","https://openalex.org/W2108072532","https://openalex.org/W2380965978","https://openalex.org/W2131481667","https://openalex.org/W2016095328","https://openalex.org/W2404840993","https://openalex.org/W4214925198","https://openalex.org/W3011129825","https://openalex.org/W1995636945"],"abstract_inverted_index":{"Leader":[0],"follower":[1,103,223],"formation":[2,94,104,224],"of":[3,20,31,38,43,48,85,105,128,136],"unmanned":[4,9],"aerial":[5],"vehicles":[6,11],"(UAVs)":[7],"and":[8,25,52,58,76,82,95,107,126,146,166,182,190,208,216,233],"ground":[10],"(UGVs)":[12],"has":[13],"found":[14],"numerous":[15],"applications":[16],"such":[17],"as":[18],"surveillance":[19],"critical":[21],"infrastructure,":[22],"industrial":[23],"automation":[24],"disaster":[26],"management":[27],"emergency.":[28],"For":[29],"completion":[30],"high":[32],"precision":[33],"group":[34],"tasks,":[35],"the":[36,56,61,73,86,129,137,163,168,173,196,199],"choice":[37],"appropriate":[39],"control":[40,98,138,171],"mechanism":[41],"is":[42,65,132],"utmost":[44],"importance.":[45],"In":[46,69],"presence":[47],"environmental":[49],"effects,external":[50],"disturbances":[51],"parametric":[53],"uncertainties":[54],"in":[55,160,235],"UAVs":[57,106,184,210],"UGV":[59,108],"models,":[60],"controller":[62],"design":[63],"process":[64],"a":[66,101],"challenging":[67],"task.":[68],"order":[70],"to":[71,77,229],"address":[72],"aforementioned":[74],"problems":[75],"ensure":[78],"minimum":[79],"tracking":[80,97,177,203],"errors":[81,178,204],"fast":[83],"convergence":[84],"states,":[87],"this":[88],"article":[89],"proposes":[90],"an":[91],"adaptive":[92],"robust":[93],"trajectory":[96],"scheme":[99],"for":[100,179,205],"leader":[102,222],"using":[109,156],"Non-Singular":[110,148],"Terminal":[111,149],"Super":[112,142,150],"Twisting":[113,143,151],"Sliding":[114],"Mode":[115],"Control":[116],"Method.Adaptive":[117],"compensators":[118],"are":[119,154,185,211],"derived":[120],"based":[121],"on":[122],"Lyapunov":[123],"function":[124],"method":[125,198],"stability":[127],"proposed":[130,169,221],"controllers":[131],"guaranteed.":[133],"Two":[134],"variants":[135],"schemes":[139],"namely":[140],"Adaptive":[141,147],"SMC":[144,152],"(AST-SMC)":[145],"(ANSTS-SMC)":[153],"tested":[155],"numerical":[157],"simulations":[158],"performed":[159],"MATLAB/Simulink.":[161],"From":[162],"results":[164],"presented,":[165],"with":[167,195],"ANSTS-SMC":[170],"scheme,":[172],"measured":[174],"[X":[175,201],"Y]":[176,202],"leader,":[180,206],"follower1":[181,207],"follower2":[183,209],"[0":[186],"0.01]m,":[187],"[0.01":[188],"0.02]m":[189,192],"[0.01,":[191],"respectively,":[193],"While":[194],"AST-SMC":[197],"peak":[200],"[0.05":[212,217],"0.05]m,":[213],"[0.1":[214],"0.2]m":[215],"0.1]m":[218],"respectively.":[219],"The":[220],"can":[225],"be":[226],"effectively":[227],"used":[228],"monitor":[230],"solar/PV":[231],"panels":[232],"cables":[234],"large":[236],"solar":[237],"parks.":[238]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":5}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
