{"id":"https://openalex.org/W7115194276","doi":"https://doi.org/10.1109/tce.2025.3643924","title":"Fast Fixed-Time-Synchronized Time-Varying Formation Tracking Control of Quadrotor UAVs Under External Disturbances","display_name":"Fast Fixed-Time-Synchronized Time-Varying Formation Tracking Control of Quadrotor UAVs Under External Disturbances","publication_year":2025,"publication_date":"2025-12-15","ids":{"openalex":"https://openalex.org/W7115194276","doi":"https://doi.org/10.1109/tce.2025.3643924"},"language":null,"primary_location":{"id":"doi:10.1109/tce.2025.3643924","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tce.2025.3643924","pdf_url":null,"source":{"id":"https://openalex.org/S126824455","display_name":"IEEE Transactions on Consumer Electronics","issn_l":"0098-3063","issn":["0098-3063","1558-4127"],"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 Consumer Electronics","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":null,"display_name":"Jie Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jie Gao","raw_affiliation_strings":["Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yanning Guo","orcid":"https://orcid.org/0000-0001-6150-3646"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanning Guo","raw_affiliation_strings":["Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Guangtao Ran","orcid":"https://orcid.org/0000-0001-7711-1436"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangtao Ran","raw_affiliation_strings":["Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hak-Keung Lam","orcid":"https://orcid.org/0000-0002-6572-7265"},"institutions":[{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hak-Keung Lam","raw_affiliation_strings":["Department of Engineering, King&#x2019;s College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Engineering, King&#x2019;s College London, London, U.K","institution_ids":["https://openalex.org/I4210119896"]}]},{"author_position":"last","author":{"id":null,"display_name":"Dongyu Li","orcid":"https://orcid.org/0000-0001-8338-0536"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongyu Li","raw_affiliation_strings":["School of Cyber Science and Technology, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Cyber Science and Technology, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.63803431,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"72","issue":"1","first_page":"1782","last_page":"1792"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.8805999755859375,"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":0.8805999755859375,"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":0.05290000140666962,"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/T12158","display_name":"Guidance and Control Systems","score":0.013500000350177288,"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/control-theory","display_name":"Control theory (sociology)","score":0.7799000144004822},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6504999995231628},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5722000002861023},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5383999943733215},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5372999906539917},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5054000020027161},{"id":"https://openalex.org/keywords/position-tracking","display_name":"Position tracking","score":0.4291999936103821},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.4059000015258789}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7799000144004822},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6504999995231628},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5722000002861023},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5702000260353088},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5383999943733215},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5372999906539917},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5145999789237976},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5054000020027161},{"id":"https://openalex.org/C3017729373","wikidata":"https://www.wikidata.org/wiki/Q30324728","display_name":"Position tracking","level":3,"score":0.4291999936103821},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.4059000015258789},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3747999966144562},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.3700000047683716},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.35420000553131104},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.3517000079154968},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.33219999074935913},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3059999942779541},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.30390000343322754},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.30000001192092896},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.2741999924182892},{"id":"https://openalex.org/C57869625","wikidata":"https://www.wikidata.org/wiki/Q1783502","display_name":"Rate of convergence","level":3,"score":0.2694000005722046}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tce.2025.3643924","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tce.2025.3643924","pdf_url":null,"source":{"id":"https://openalex.org/S126824455","display_name":"IEEE Transactions on Consumer Electronics","issn_l":"0098-3063","issn":["0098-3063","1558-4127"],"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 Consumer Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"the":[3,47,53,72,76,82,85,94,103,129,134],"problem":[4],"of":[5,67,81,133],"formation":[6,26,61,127],"tracking":[7,27],"control":[8,29,136],"for":[9,31,35,52,117],"quadrotor":[10,32,83],"unmanned":[11],"aerial":[12],"vehicles":[13],"(UAVs)":[14],"subject":[15],"to":[16,63,93],"external":[17],"disturbances.":[18],"We":[19],"propose":[20],"a":[21,109,125],"fast":[22],"fixed-time-synchronized":[23],"(FFTS)":[24],"time-varying":[25],"(TVFT)":[28],"framework":[30,51],"UAVs.":[33,73],"Firstly,":[34],"each":[36],"individual":[37],"UAV,":[38],"we":[39,57],"design":[40],"an":[41,59],"FFTS":[42,60],"disturbance":[43],"observer":[44,87],"compatible":[45],"with":[46,98,124],"time-synchronized":[48],"(TS)":[49],"stabilization":[50],"position":[54,69],"loop.":[55,96],"Secondly,":[56],"develop":[58],"controller":[62,89],"achieve":[64],"synchronous":[65],"convergence":[66,118],"all":[68],"components":[70],"across":[71],"Furthermore,":[74],"considering":[75],"inherent":[77],"multi-loop":[78],"coupling":[79],"characteristics":[80],"system,":[84],"proposed":[86,135],"and":[88,106,112,131],"are":[90],"applied":[91],"synchronously":[92],"attitude":[95],"Compared":[97],"existing":[99],"FT":[100],"methods,":[101],"both":[102],"designed":[104],"observers":[105],"controllers":[107],"yield":[108],"less":[110],"conservative":[111],"more":[113],"practical":[114],"upper":[115],"bound":[116],"time.":[119],"Finally,":[120],"simulation":[121],"results":[122],"conducted":[123],"three-UAV":[126],"validate":[128],"effectiveness":[130],"superiority":[132],"method.":[137]},"counts_by_year":[],"updated_date":"2026-03-26T06:05:38.182114","created_date":"2025-12-15T00:00:00"}
