{"id":"https://openalex.org/W4385151992","doi":"https://doi.org/10.1109/tsmc.2023.3292810","title":"Multi-UAV Safe Collaborative Transportation Based on Adaptive Control Barrier Function","display_name":"Multi-UAV Safe Collaborative Transportation Based on Adaptive Control Barrier Function","publication_year":2023,"publication_date":"2023-07-21","ids":{"openalex":"https://openalex.org/W4385151992","doi":"https://doi.org/10.1109/tsmc.2023.3292810"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2023.3292810","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2023.3292810","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: 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/A5100437367","display_name":"Zhijun Wang","orcid":"https://orcid.org/0000-0003-4802-8435"},"institutions":[{"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"],"is_corresponding":false,"raw_author_name":"Zhijun Wang","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101781308","display_name":"Tengfei Hu","orcid":"https://orcid.org/0000-0002-5271-4967"},"institutions":[{"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"],"is_corresponding":false,"raw_author_name":"Tengfei Hu","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027939945","display_name":"Lijun Long","orcid":"https://orcid.org/0000-0003-2950-2410"},"institutions":[{"id":"https://openalex.org/I4391767858","display_name":"State Key Laboratory of Synthetical Automation for Process Industries","ror":"https://ror.org/0380ng272","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767858","https://openalex.org/I9224756"]},{"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"],"is_corresponding":false,"raw_author_name":"Lijun Long","raw_affiliation_strings":["College of Information Science and Engineering and the State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0003-2950-2410","affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering and the State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756","https://openalex.org/I4391767858"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.0432,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":{"value":0.98507123,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"53","issue":"11","first_page":"6975","last_page":"6983"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9945999979972839,"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"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9945999979972839,"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":0.9925000071525574,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9883999824523926,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/control-theory","display_name":"Control theory (sociology)","score":0.6695258617401123},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5923706889152527},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.579927384853363},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5219858884811401},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5193178057670593},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5079012513160706},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.47486305236816406},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4551903307437897},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.4455064535140991},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31420016288757324},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3125552237033844},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25757938623428345},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1537286341190338},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10996431112289429}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6695258617401123},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5923706889152527},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.579927384853363},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5219858884811401},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5193178057670593},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5079012513160706},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.47486305236816406},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4551903307437897},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.4455064535140991},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31420016288757324},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3125552237033844},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25757938623428345},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1537286341190338},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10996431112289429},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/tsmc.2023.3292810","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2023.3292810","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2217024222","display_name":null,"funder_award_id":"61773100","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2311391187","display_name":null,"funder_award_id":"B16009","funder_id":"https://openalex.org/F4320327912","funder_display_name":"Higher Education Discipline Innovation Project"},{"id":"https://openalex.org/G3750900206","display_name":null,"funder_award_id":"62173075","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4937641433","display_name":null,"funder_award_id":"N2004015","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G8635724999","display_name":null,"funder_award_id":"XLYC1907043","funder_id":"https://openalex.org/F4320329895","funder_display_name":"Liaoning Revitalization Talents Program"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320327912","display_name":"Higher Education Discipline Innovation Project","ror":null},{"id":"https://openalex.org/F4320329895","display_name":"Liaoning Revitalization Talents Program","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1490271997","https://openalex.org/W1891170951","https://openalex.org/W2001906351","https://openalex.org/W2042971023","https://openalex.org/W2046618739","https://openalex.org/W2078258153","https://openalex.org/W2090167557","https://openalex.org/W2208002876","https://openalex.org/W2296093392","https://openalex.org/W2489820110","https://openalex.org/W2560504659","https://openalex.org/W2582118765","https://openalex.org/W2734891539","https://openalex.org/W2766628996","https://openalex.org/W2787072730","https://openalex.org/W2861149141","https://openalex.org/W2896933215","https://openalex.org/W2899349726","https://openalex.org/W2907312290","https://openalex.org/W2952211129","https://openalex.org/W2968945909","https://openalex.org/W2977676795","https://openalex.org/W2979251496","https://openalex.org/W2989954096","https://openalex.org/W2999501621","https://openalex.org/W3046925685","https://openalex.org/W3162979494","https://openalex.org/W3170845014","https://openalex.org/W3186304270","https://openalex.org/W4206756835","https://openalex.org/W4210608941","https://openalex.org/W4214949530","https://openalex.org/W4224942973","https://openalex.org/W4294690625","https://openalex.org/W4312924603","https://openalex.org/W4324116468","https://openalex.org/W6810409564","https://openalex.org/W6847958348"],"related_works":["https://openalex.org/W2396122647","https://openalex.org/W2136161268","https://openalex.org/W3165943254","https://openalex.org/W3143668791","https://openalex.org/W1934622834","https://openalex.org/W2015036175","https://openalex.org/W1990473637","https://openalex.org/W1991810297","https://openalex.org/W2032253950","https://openalex.org/W1819950161"],"abstract_inverted_index":{"This":[0],"article":[1],"focuses":[2],"on":[3,75],"the":[4,58,82,96,106,113,143,146],"problem":[5],"of":[6,13,24,61,84,131,145],"adaptive":[7,25,31,121],"safe":[8,70,122,128],"stabilization":[9],"for":[10,50,116,127],"a":[11,46,65,89,100],"class":[12],"nonlinear":[14,62],"control":[15,26,32],"affine":[16],"systems":[17],"with":[18,45,99],"parameter":[19,51],"uncertainties.":[20],"Two":[21],"novel":[22],"definitions":[23],"Lyapunov":[27],"function":[28,34],"(ACLF)":[29],"and":[30,77,105],"barrier":[33],"(ACBF)":[35],"are":[36,139],"first":[37],"introduced,":[38],"which":[39,88],"use":[40],"multiple":[41],"identification":[42],"models":[43],"combined":[44],"logic":[47],"switching":[48,54],"mechanism":[49,55],"adaptation.":[52],"The":[53],"can":[56],"improve":[57],"transient":[59],"performance":[60],"systems.":[63],"Also,":[64],"multiunmanned":[66],"aerial":[67,134],"vehicle":[68],"(multi-UAV)":[69],"collaborative":[71,129],"transportation":[72,130],"framework":[73],"based":[74],"ACLF":[76,98],"ACBF":[78],"is":[79,92,109],"provided":[80],"in":[81,87,136],"presence":[83],"parametric":[85],"uncertainties,":[86],"nominal":[90,107],"controller":[91,108],"derived":[93],"by":[94,112],"using":[95],"proposed":[97,147],"quadratic":[101],"programming":[102],"(QP)":[103],"algorithm,":[104],"further":[110],"modified":[111],"ACBF-QP":[114],"algorithm":[115],"safety":[117],"filter":[118],"to":[119,141],"achieve":[120],"stabilization.":[123],"Finally,":[124],"simulation":[125],"results":[126],"dual":[132],"unmanned":[133],"vehicles":[135],"three-dimensional":[137],"space":[138],"presented":[140],"demonstrate":[142],"effectiveness":[144],"design":[148],"approach.":[149]},"counts_by_year":[{"year":2026,"cited_by_count":11},{"year":2025,"cited_by_count":27},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-19T17:40:00.097472","created_date":"2025-10-10T00:00:00"}
