{"id":"https://openalex.org/W2898358912","doi":"https://doi.org/10.1109/tcyb.2018.2875559","title":"Robust Formation Control for Multiple Quadrotors With Nonlinearities and Disturbances","display_name":"Robust Formation Control for Multiple Quadrotors With Nonlinearities and Disturbances","publication_year":2018,"publication_date":"2018-10-25","ids":{"openalex":"https://openalex.org/W2898358912","doi":"https://doi.org/10.1109/tcyb.2018.2875559","mag":"2898358912","pmid":"https://pubmed.ncbi.nlm.nih.gov/30369463"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2018.2875559","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2018.2875559","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5025228565","display_name":"Hao Liu","orcid":"https://orcid.org/0000-0001-8365-8008"},"institutions":[{"id":"https://openalex.org/I189196454","display_name":"The University of Texas at Arlington","ror":"https://ror.org/019kgqr73","country_code":"US","type":"education","lineage":["https://openalex.org/I189196454"]},{"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","US"],"is_corresponding":true,"raw_author_name":"Hao Liu","raw_affiliation_strings":["School of Astronautics, Beihang University, Beijing, China","University of Texas at Arlington Research Institute, University of Texas at Arlington, Fort Worth, USA"],"raw_orcid":"https://orcid.org/0000-0001-8365-8008","affiliations":[{"raw_affiliation_string":"School of Astronautics, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"University of Texas at Arlington Research Institute, University of Texas at Arlington, Fort Worth, USA","institution_ids":["https://openalex.org/I189196454"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011783606","display_name":"Teng Ma","orcid":"https://orcid.org/0000-0003-2214-2512"},"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":"Teng Ma","raw_affiliation_strings":["School of Astronautics, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2214-2512","affiliations":[{"raw_affiliation_string":"School of Astronautics, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016137188","display_name":"Frank L. Lewis","orcid":"https://orcid.org/0000-0003-4074-1615"},"institutions":[{"id":"https://openalex.org/I189196454","display_name":"The University of Texas at Arlington","ror":"https://ror.org/019kgqr73","country_code":"US","type":"education","lineage":["https://openalex.org/I189196454"]},{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Frank L. Lewis","raw_affiliation_strings":["University of Texas at Arlington Research Institute, University of Texas at Arlington, Fort Worth, TX, USA","State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China","University of Texas at Arlington Research Institute, University of Texas at Arlington, Fort Worth, USA"],"raw_orcid":"https://orcid.org/0000-0003-4074-1615","affiliations":[{"raw_affiliation_string":"University of Texas at Arlington Research Institute, University of Texas at Arlington, Fort Worth, TX, USA","institution_ids":["https://openalex.org/I189196454"]},{"raw_affiliation_string":"State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"University of Texas at Arlington Research Institute, University of Texas at Arlington, Fort Worth, USA","institution_ids":["https://openalex.org/I189196454"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029213376","display_name":"Yan Wan","orcid":"https://orcid.org/0000-0002-7508-5833"},"institutions":[{"id":"https://openalex.org/I189196454","display_name":"The University of Texas at Arlington","ror":"https://ror.org/019kgqr73","country_code":"US","type":"education","lineage":["https://openalex.org/I189196454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yan Wan","raw_affiliation_strings":["University of Texas at Arlington Research Institute, University of Texas at Arlington, Fort Worth, TX, USA","University of Texas at Arlington Research Institute, University of Texas at Arlington, Fort Worth, USA"],"raw_orcid":"https://orcid.org/0000-0002-7508-5833","affiliations":[{"raw_affiliation_string":"University of Texas at Arlington Research Institute, University of Texas at Arlington, Fort Worth, TX, USA","institution_ids":["https://openalex.org/I189196454"]},{"raw_affiliation_string":"University of Texas at Arlington Research Institute, University of Texas at Arlington, Fort Worth, USA","institution_ids":["https://openalex.org/I189196454"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5025228565"],"corresponding_institution_ids":["https://openalex.org/I189196454","https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":23.9,"has_fulltext":false,"cited_by_count":263,"citation_normalized_percentile":{"value":0.99621429,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"50","issue":"4","first_page":"1362","last_page":"1371"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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":1.0,"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":0.9991999864578247,"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":0.9955000281333923,"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":0.849345862865448},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.777012825012207},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6923316717147827},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5815319418907166},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5248191952705383},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.5076099634170532},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49735763669013977},{"id":"https://openalex.org/keywords/rotation-around-a-fixed-axis","display_name":"Rotation around a fixed axis","score":0.47336480021476746},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43242359161376953},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3938666880130768},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2796006202697754},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.23836037516593933},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16563135385513306},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15042337775230408}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.849345862865448},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.777012825012207},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6923316717147827},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5815319418907166},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5248191952705383},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.5076099634170532},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49735763669013977},{"id":"https://openalex.org/C6342182","wikidata":"https://www.wikidata.org/wiki/Q2995427","display_name":"Rotation around a fixed axis","level":2,"score":0.47336480021476746},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43242359161376953},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3938666880130768},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2796006202697754},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.23836037516593933},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16563135385513306},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15042337775230408},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2018.2875559","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2018.2875559","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},{"id":"pmid:30369463","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/30369463","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1177435427","display_name":null,"funder_award_id":"61873012","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3743514969","display_name":null,"funder_award_id":"1714519","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"},{"id":"https://openalex.org/G4707757447","display_name":null,"funder_award_id":"61633007","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5784165833","display_name":null,"funder_award_id":"1730675","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"},{"id":"https://openalex.org/G59912706","display_name":null,"funder_award_id":"61503012","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7604827104","display_name":null,"funder_award_id":"N00014-17-1-2239","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G8505996489","display_name":null,"funder_award_id":"YWF-18-BJ-Y-81","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G8677068748","display_name":null,"funder_award_id":"YWF-17-BJ-Y-86","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1741382246","https://openalex.org/W1991540382","https://openalex.org/W1993579959","https://openalex.org/W2003446166","https://openalex.org/W2019271926","https://openalex.org/W2023008986","https://openalex.org/W2024351662","https://openalex.org/W2036571133","https://openalex.org/W2045080121","https://openalex.org/W2082829278","https://openalex.org/W2088195248","https://openalex.org/W2089445456","https://openalex.org/W2091083460","https://openalex.org/W2093597151","https://openalex.org/W2093848766","https://openalex.org/W2106413402","https://openalex.org/W2115775310","https://openalex.org/W2119120935","https://openalex.org/W2129891269","https://openalex.org/W2131363581","https://openalex.org/W2140665365","https://openalex.org/W2145979793","https://openalex.org/W2201474395","https://openalex.org/W2294747335","https://openalex.org/W2509152809","https://openalex.org/W2591002471","https://openalex.org/W2598532228","https://openalex.org/W2613864063","https://openalex.org/W2734040660","https://openalex.org/W2735822044","https://openalex.org/W2736515742","https://openalex.org/W2754375554","https://openalex.org/W2771250673","https://openalex.org/W2787958879","https://openalex.org/W2789190797","https://openalex.org/W2964082289","https://openalex.org/W3124638836","https://openalex.org/W6748178061"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W4321093571","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W4313405128"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"the":[3,19,31,50,54,63,85,88],"robust":[4,38],"formation":[5,56,76,90],"control":[6,62,91],"problem":[7],"is":[8,40],"investigated":[9],"for":[10,53],"a":[11,45,75],"group":[12],"of":[13,21,44,66,74,77,87],"quadrotors.":[14],"Each":[15],"quadrotor":[16],"dynamics":[17],"exhibits":[18],"features":[20],"underactuation,":[22],"high":[23],"nonlinearities":[24],"and":[25,27,33,57,71],"couplings,":[26],"disturbances":[28],"in":[29],"both":[30],"translational":[32,51],"rotational":[34,64],"motions.":[35],"A":[36],"distributed":[37],"controller":[39,47,60],"developed,":[41],"which":[42],"consists":[43],"position":[46],"to":[48,61,83],"govern":[49],"motion":[52,65],"desired":[55],"an":[58],"attitude":[59],"each":[67],"quadrotor.":[68],"Theoretical":[69],"analysis":[70],"simulation":[72],"studies":[73],"multiple":[78],"uncertain":[79],"quadrotors":[80],"are":[81],"presented":[82],"validate":[84],"effectiveness":[86],"proposed":[89],"scheme.":[92]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":27},{"year":2024,"cited_by_count":41},{"year":2023,"cited_by_count":43},{"year":2022,"cited_by_count":25},{"year":2021,"cited_by_count":40},{"year":2020,"cited_by_count":41},{"year":2019,"cited_by_count":37},{"year":2018,"cited_by_count":3}],"updated_date":"2026-05-26T13:28:51.108037","created_date":"2025-10-10T00:00:00"}