{"id":"https://openalex.org/W3127847558","doi":"https://doi.org/10.1109/tcst.2021.3053541","title":"Distributed Formation Control for Multiagent Systems Using a Fractional-Order Proportional\u2013Integral Structure","display_name":"Distributed Formation Control for Multiagent Systems Using a Fractional-Order Proportional\u2013Integral Structure","publication_year":2021,"publication_date":"2021-02-03","ids":{"openalex":"https://openalex.org/W3127847558","doi":"https://doi.org/10.1109/tcst.2021.3053541","mag":"3127847558"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2021.3053541","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2021.3053541","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Systems Technology","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/A5037812485","display_name":"Ricardo Cajo","orcid":"https://orcid.org/0000-0002-0371-2439"},"institutions":[{"id":"https://openalex.org/I2135383","display_name":"Escuela Superior Politecnica del Litoral","ror":"https://ror.org/04qenc566","country_code":"EC","type":"education","lineage":["https://openalex.org/I2135383"]},{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE","EC"],"is_corresponding":false,"raw_author_name":"Ricardo Cajo","raw_affiliation_strings":["Department of Electromechanical, Systems and Metal Engineering, Ghent University, Ghent, Belgium","Escuela Superior Polit\u00e9cnica del Litoral (ESPOL), Guayaquil, Ecuador"],"raw_orcid":"https://orcid.org/0000-0002-0371-2439","affiliations":[{"raw_affiliation_string":"Department of Electromechanical, Systems and Metal Engineering, Ghent University, Ghent, Belgium","institution_ids":["https://openalex.org/I32597200"]},{"raw_affiliation_string":"Escuela Superior Polit\u00e9cnica del Litoral (ESPOL), Guayaquil, Ecuador","institution_ids":["https://openalex.org/I2135383"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049176565","display_name":"Mar\u00eda Guinaldo","orcid":"https://orcid.org/0000-0002-7043-6673"},"institutions":[{"id":"https://openalex.org/I178450904","display_name":"Universidad Nacional de Educaci\u00f3n a Distancia","ror":"https://ror.org/02msb5n36","country_code":"ES","type":"education","lineage":["https://openalex.org/I178450904"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Maria Guinaldo","raw_affiliation_strings":["Departamento de Inform\u00e1tica y Autom\u00e1tica, Universidad Nacional de Educaci\u00f3n a Distancia, Madrid, Spain"],"raw_orcid":"https://orcid.org/0000-0002-7043-6673","affiliations":[{"raw_affiliation_string":"Departamento de Inform\u00e1tica y Autom\u00e1tica, Universidad Nacional de Educaci\u00f3n a Distancia, Madrid, Spain","institution_ids":["https://openalex.org/I178450904"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026202963","display_name":"Ernesto F\u00e1bregas","orcid":"https://orcid.org/0000-0003-4478-6626"},"institutions":[{"id":"https://openalex.org/I178450904","display_name":"Universidad Nacional de Educaci\u00f3n a Distancia","ror":"https://ror.org/02msb5n36","country_code":"ES","type":"education","lineage":["https://openalex.org/I178450904"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Ernesto Fabregas","raw_affiliation_strings":["Departamento de Inform\u00e1tica y Autom\u00e1tica, Universidad Nacional de Educaci\u00f3n a Distancia, Madrid, Spain"],"raw_orcid":"https://orcid.org/0000-0003-4478-6626","affiliations":[{"raw_affiliation_string":"Departamento de Inform\u00e1tica y Autom\u00e1tica, Universidad Nacional de Educaci\u00f3n a Distancia, Madrid, Spain","institution_ids":["https://openalex.org/I178450904"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071288689","display_name":"S. Dormido","orcid":"https://orcid.org/0000-0002-2405-8771"},"institutions":[{"id":"https://openalex.org/I178450904","display_name":"Universidad Nacional de Educaci\u00f3n a Distancia","ror":"https://ror.org/02msb5n36","country_code":"ES","type":"education","lineage":["https://openalex.org/I178450904"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Sebastian Dormido","raw_affiliation_strings":["Departamento de Inform\u00e1tica y Autom\u00e1tica, Universidad Nacional de Educaci\u00f3n a Distancia, Madrid, Spain"],"raw_orcid":"https://orcid.org/0000-0002-2405-8771","affiliations":[{"raw_affiliation_string":"Departamento de Inform\u00e1tica y Autom\u00e1tica, Universidad Nacional de Educaci\u00f3n a Distancia, Madrid, Spain","institution_ids":["https://openalex.org/I178450904"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035483018","display_name":"Douglas Plaza","orcid":"https://orcid.org/0000-0002-1399-0627"},"institutions":[{"id":"https://openalex.org/I2135383","display_name":"Escuela Superior Politecnica del Litoral","ror":"https://ror.org/04qenc566","country_code":"EC","type":"education","lineage":["https://openalex.org/I2135383"]}],"countries":["EC"],"is_corresponding":false,"raw_author_name":"Douglas Plaza","raw_affiliation_strings":["Escuela Superior Polit\u00e9cnica del Litoral (ESPOL), Guayaquil, Ecuador"],"raw_orcid":"https://orcid.org/0000-0002-1399-0627","affiliations":[{"raw_affiliation_string":"Escuela Superior Polit\u00e9cnica del Litoral (ESPOL), Guayaquil, Ecuador","institution_ids":["https://openalex.org/I2135383"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108574290","display_name":"Robain De Keyser","orcid":null},"institutions":[{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Robain De Keyser","raw_affiliation_strings":["Department of Electromechanical, Systems and Metal Engineering, Ghent University, Ghent, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electromechanical, Systems and Metal Engineering, Ghent University, Ghent, Belgium","institution_ids":["https://openalex.org/I32597200"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004573956","display_name":"Clara M. Ionescu","orcid":"https://orcid.org/0000-0001-7685-035X"},"institutions":[{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]},{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Clara Ionescu","raw_affiliation_strings":["Department of Electromechanical, Systems and Metal Engineering, Ghent University, Ghent, Belgium","Flanders Make, EEDT Decision & Control, Ghent, Belgium"],"raw_orcid":"https://orcid.org/0000-0001-7685-035X","affiliations":[{"raw_affiliation_string":"Department of Electromechanical, Systems and Metal Engineering, Ghent University, Ghent, Belgium","institution_ids":["https://openalex.org/I32597200"]},{"raw_affiliation_string":"Flanders Make, EEDT Decision & Control, Ghent, Belgium","institution_ids":["https://openalex.org/I4210116480"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.367,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.92223988,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"29","issue":"6","first_page":"2738","last_page":"2745"},"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/T10482","display_name":"Mathematical and Theoretical Epidemiology and Ecology Models","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/2739","display_name":"Public Health, Environmental and Occupational Health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11187","display_name":"Nonlinear Dynamics and Pattern Formation","score":0.9901000261306763,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6814738512039185},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.655056357383728},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.6047830581665039},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5041319131851196},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.46814921498298645},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4598011374473572},{"id":"https://openalex.org/keywords/double-integrator","display_name":"Double integrator","score":0.43977272510528564},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.43313151597976685},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4319562315940857},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.42566072940826416},{"id":"https://openalex.org/keywords/frequency-domain","display_name":"Frequency domain","score":0.41164225339889526},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3919442296028137},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.292949378490448},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14998140931129456},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12784621119499207}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6814738512039185},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.655056357383728},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.6047830581665039},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5041319131851196},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.46814921498298645},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4598011374473572},{"id":"https://openalex.org/C2779323837","wikidata":"https://www.wikidata.org/wiki/Q5300045","display_name":"Double integrator","level":3,"score":0.43977272510528564},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.43313151597976685},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4319562315940857},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.42566072940826416},{"id":"https://openalex.org/C19118579","wikidata":"https://www.wikidata.org/wiki/Q786423","display_name":"Frequency domain","level":2,"score":0.41164225339889526},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3919442296028137},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.292949378490448},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14998140931129456},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12784621119499207},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tcst.2021.3053541","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2021.3053541","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:archive.ugent.be:8703173","is_oa":false,"landing_page_url":"https://biblio.ugent.be/publication/8703173","pdf_url":null,"source":{"id":"https://openalex.org/S4306400478","display_name":"Ghent University Academic Bibliography (Ghent University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I32597200","host_organization_name":"Ghent University","host_organization_lineage":["https://openalex.org/I32597200"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY","raw_type":"journalArticle"},{"id":"pmh:oai:archive.ugent.be:8724471","is_oa":false,"landing_page_url":"https://biblio.ugent.be/publication/8724471","pdf_url":null,"source":{"id":"https://openalex.org/S4306400478","display_name":"Ghent University Academic Bibliography (Ghent University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I32597200","host_organization_name":"Ghent University","host_organization_lineage":["https://openalex.org/I32597200"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ISSN: 1558-0865","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320319799","display_name":"Flanders Make","ror":null},{"id":"https://openalex.org/F4320322526","display_name":"Secretar\u00eda de Educaci\u00f3n Superior, Ciencia, Tecnolog\u00eda e Innovaci\u00f3n","ror":"https://ror.org/056c6e777"},{"id":"https://openalex.org/F4320322603","display_name":"Universiteit Gent","ror":"https://ror.org/00cv9y106"},{"id":"https://openalex.org/F4320327336","display_name":"Vlaamse regering","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1586493294","https://openalex.org/W1987870286","https://openalex.org/W2012812921","https://openalex.org/W2063409030","https://openalex.org/W2123738293","https://openalex.org/W2168914013","https://openalex.org/W2474788283","https://openalex.org/W2477921776","https://openalex.org/W2562885799","https://openalex.org/W2787959293","https://openalex.org/W2790260102","https://openalex.org/W2792476097","https://openalex.org/W2945961774","https://openalex.org/W2949216527","https://openalex.org/W3033182154","https://openalex.org/W3040252179","https://openalex.org/W3086517248","https://openalex.org/W3100348600","https://openalex.org/W4238591275"],"related_works":["https://openalex.org/W2510379916","https://openalex.org/W2782694664","https://openalex.org/W2061424570","https://openalex.org/W2569949266","https://openalex.org/W2288643351","https://openalex.org/W3083856552","https://openalex.org/W4249670262","https://openalex.org/W2897254478","https://openalex.org/W2034810439","https://openalex.org/W2381041964"],"abstract_inverted_index":{"This":[0,72],"work":[1],"presents":[2],"the":[3,39,43,47,50,59,64,67,77,82,86,89,112,115],"development":[4],"of":[5,42,49,63,114],"a":[6,15,54,95,105],"distributed":[7],"formation":[8,44,87],"control":[9,22,78],"for":[10],"multiagent":[11],"systems":[12],"(MASs)":[13],"using":[14],"fractional-order":[16],"proportional\u2013integral":[17],"(FOPI)":[18],"structure.":[19],"The":[20],"fractional":[21],"protocol":[23],"proposed":[24],"is":[25,70,92],"evaluated":[26],"on":[27,76],"agents":[28],"modeled":[29,93],"with":[30],"single-":[31],"and":[32,45,61,84,104],"double-integrator":[33],"dynamics,":[34],"in":[35,66],"which":[36],"it":[37],"enhances":[38],"convergence":[40,62],"speed":[41],"improves":[46],"robustness":[48],"system.":[51],"In":[52],"addition,":[53],"novel":[55],"method":[56],"to":[57,80],"study":[58],"stability":[60,83],"MASs":[65],"frequency":[68],"domain":[69],"designed.":[71],"allows":[73],"deriving":[74],"constraints":[75],"parameters":[79],"guarantee":[81],"ensure":[85],"when":[88],"system":[90],"topology":[91],"by":[94],"time-invariant":[96],"undirected":[97],"graph.":[98],"Finally,":[99],"realistic":[100],"simulations":[101],"through":[102],"MATLAB":[103],"Virtual":[106],"Robot":[107],"Experimentation":[108],"Platform":[109],"(V-REP)":[110],"validate":[111],"effectiveness":[113],"theoretical":[116],"results.":[117]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-14T07:44:22.658603","created_date":"2021-02-15T00:00:00"}
