{"id":"https://openalex.org/W4320170202","doi":"https://doi.org/10.1109/tcns.2023.3239560","title":"Robust Linear-Velocity-Free Formation Tracking of Multiple Quadrotors With Unknown Disturbances","display_name":"Robust Linear-Velocity-Free Formation Tracking of Multiple Quadrotors With Unknown Disturbances","publication_year":2023,"publication_date":"2023-01-24","ids":{"openalex":"https://openalex.org/W4320170202","doi":"https://doi.org/10.1109/tcns.2023.3239560"},"language":"en","primary_location":{"id":"doi:10.1109/tcns.2023.3239560","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcns.2023.3239560","pdf_url":null,"source":{"id":"https://openalex.org/S2502544478","display_name":"IEEE Transactions on Control of Network Systems","issn_l":"2325-5870","issn":["2325-5870","2372-2533"],"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 Control of Network Systems","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":"https://openalex.org/A5064575902","display_name":"Jie Lin","orcid":"https://orcid.org/0000-0002-9111-9044"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jie Lin","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University, Changsha, China","National Engineering Laboratory for Robot Visual Perception and Control, Hunan University, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]},{"raw_affiliation_string":"National Engineering Laboratory for Robot Visual Perception and Control, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025640070","display_name":"Yaonan Wang","orcid":"https://orcid.org/0000-0002-0519-6458"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaonan Wang","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University, Changsha, China","National Engineering Laboratory for Robot Visual Perception and Control, Hunan University, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]},{"raw_affiliation_string":"National Engineering Laboratory for Robot Visual Perception and Control, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013336609","display_name":"Zhiqiang Miao","orcid":"https://orcid.org/0000-0002-0899-1537"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Miao","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University, Changsha, China","National Engineering Laboratory for Robot Visual Perception and Control, Hunan University, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]},{"raw_affiliation_string":"National Engineering Laboratory for Robot Visual Perception and Control, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101852582","display_name":"Qiong Lin","orcid":"https://orcid.org/0000-0002-6055-1619"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiong Lin","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University, Changsha, China","National Engineering Laboratory for Robot Visual Perception and Control, Hunan University, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]},{"raw_affiliation_string":"National Engineering Laboratory for Robot Visual Perception and Control, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050664552","display_name":"Guoqiang Hu","orcid":"https://orcid.org/0000-0002-8618-5581"},"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":"Guoqiang Hu","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074464769","display_name":"Rafael Fierro","orcid":"https://orcid.org/0000-0002-5574-7246"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rafael Fierro","raw_affiliation_strings":["MARHES Lab, Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, NM, USA"],"affiliations":[{"raw_affiliation_string":"MARHES Lab, Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5064575902"],"corresponding_institution_ids":["https://openalex.org/I16609230"],"apc_list":null,"apc_paid":null,"fwci":2.0091,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.86662351,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"10","issue":"4","first_page":"1757","last_page":"1769"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9993000030517578,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9829999804496765,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.8732272982597351},{"id":"https://openalex.org/keywords/differentiator","display_name":"Differentiator","score":0.8534107208251953},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6365479230880737},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5562383532524109},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.46916016936302185},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4691547155380249},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.4662339389324188},{"id":"https://openalex.org/keywords/linear-system","display_name":"Linear system","score":0.46590811014175415},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.44998618960380554},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4414898157119751},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4233304560184479},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.4101078510284424},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3735365569591522},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2823982834815979},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2565179467201233},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.245629221200943},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22234821319580078},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14607343077659607},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10260537266731262},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09188207983970642},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.08518370985984802}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8732272982597351},{"id":"https://openalex.org/C12112733","wikidata":"https://www.wikidata.org/wiki/Q2659948","display_name":"Differentiator","level":3,"score":0.8534107208251953},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6365479230880737},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5562383532524109},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.46916016936302185},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4691547155380249},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.4662339389324188},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.46590811014175415},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.44998618960380554},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4414898157119751},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4233304560184479},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.4101078510284424},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3735365569591522},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2823982834815979},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2565179467201233},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.245629221200943},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22234821319580078},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14607343077659607},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10260537266731262},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09188207983970642},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.08518370985984802},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcns.2023.3239560","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcns.2023.3239560","pdf_url":null,"source":{"id":"https://openalex.org/S2502544478","display_name":"IEEE Transactions on Control of Network Systems","issn_l":"2325-5870","issn":["2325-5870","2372-2533"],"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 Control of Network Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1925512234","display_name":null,"funder_award_id":"2021JJ20029","funder_id":"https://openalex.org/F4320322843","funder_display_name":"Natural Science Foundation of\u00a0Hunan Province"},{"id":"https://openalex.org/G4266947506","display_name":null,"funder_award_id":"62273138","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G649768304","display_name":null,"funder_award_id":"FA9453-18-2-0022","funder_id":"https://openalex.org/F4320338294","funder_display_name":"Air Force Research Laboratory"},{"id":"https://openalex.org/G6585426173","display_name":null,"funder_award_id":"NRI 2024520","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322843","display_name":"Natural Science Foundation of\u00a0Hunan Province","ror":null},{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"},{"id":"https://openalex.org/F4320338294","display_name":"Air Force Research Laboratory","ror":"https://ror.org/02e2egq70"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1518672027","https://openalex.org/W1964342070","https://openalex.org/W1981826826","https://openalex.org/W1996715445","https://openalex.org/W1999558720","https://openalex.org/W2030959268","https://openalex.org/W2043481280","https://openalex.org/W2064008010","https://openalex.org/W2085213458","https://openalex.org/W2093848766","https://openalex.org/W2103381197","https://openalex.org/W2109656638","https://openalex.org/W2115154181","https://openalex.org/W2161487089","https://openalex.org/W2420367108","https://openalex.org/W2588805538","https://openalex.org/W2590149767","https://openalex.org/W2735822044","https://openalex.org/W2771250673","https://openalex.org/W2797090510","https://openalex.org/W2886401384","https://openalex.org/W2898358912","https://openalex.org/W2945604450","https://openalex.org/W2945675984","https://openalex.org/W2968126694","https://openalex.org/W3007267406","https://openalex.org/W3010123037","https://openalex.org/W3034502743","https://openalex.org/W3072229048","https://openalex.org/W3122575011","https://openalex.org/W3134697742","https://openalex.org/W3189025665","https://openalex.org/W3189926634"],"related_works":["https://openalex.org/W2371530940","https://openalex.org/W1560887869","https://openalex.org/W2029024449","https://openalex.org/W2109780951","https://openalex.org/W1994327371","https://openalex.org/W2999866270","https://openalex.org/W1641778210","https://openalex.org/W2064008010","https://openalex.org/W3080630843","https://openalex.org/W2106518784"],"abstract_inverted_index":{"This":[0],"article":[1],"addresses":[2],"the":[3,14,25,31,49,53,64,73,88,92,115,129,138,146,149],"problem":[4],"of":[5,36,148],"quadrotor":[6,50,85],"formation":[7,66,126],"control":[8,151],"with":[9],"inaccessible":[10,74],"linear":[11,75],"velocity":[12,76],"and":[13,33,123,145],"unknown":[15,26],"disturbances":[16,27],"under":[17],"directed":[18,68],"interaction":[19,69],"topologies.":[20,70],"In":[21,52,91],"this":[22],"article,":[23],"considering":[24],"act":[28],"in":[29,114],"both":[30],"translational":[32,58],"rotational":[34],"motions":[35],"each":[37,84],"underactuated":[38],"quadrotor,":[39],"a":[40,78,95,104],"hierarchical":[41],"distributed":[42],"disturbance":[43,112],"rejection":[44],"controller":[45,59,99],"is":[46,60,81,100,135,153],"developed":[47,101],"for":[48,83],"formation.":[51],"outer":[54],"loop,":[55,94],"an":[56],"observer-based":[57],"designed":[61,82],"to":[62],"achieve":[63,124],"desired":[65,122],"over":[67],"To":[71],"estimate":[72],"measurements,":[77],"uniform":[79],"differentiator":[80],"using":[86,137],"only":[87],"position":[89],"information.":[90],"inner":[93],"robust":[96],"geometric":[97],"attitude":[98],"based":[102],"on":[103,142],"super-twisting":[105],"algorithm.":[106],"The":[107,132],"proposed":[108,150],"controllers":[109],"can":[110],"reach":[111],"rejections":[113],"whole":[116],"frequency":[117],"domain":[118],"as":[119,121],"much":[120],"asymptotic":[125],"tracking":[127],"within":[128],"appointed":[130],"time.":[131],"stability":[133,140],"analysis":[134],"presented":[136],"Lyapunov":[139],"theory":[141],"cascaded":[143],"systems,":[144],"effectiveness":[147],"strategy":[152],"demonstrated":[154],"through":[155],"numerical":[156],"simulations.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}