{"id":"https://openalex.org/W3025887928","doi":"https://doi.org/10.1109/tvt.2020.2994949","title":"Robust Time-Varying Formation Control for a Set of Quad-Copters With Switching Interaction Communication Topology","display_name":"Robust Time-Varying Formation Control for a Set of Quad-Copters With Switching Interaction Communication Topology","publication_year":2020,"publication_date":"2020-05-16","ids":{"openalex":"https://openalex.org/W3025887928","doi":"https://doi.org/10.1109/tvt.2020.2994949","mag":"3025887928"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2020.2994949","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2020.2994949","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular 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/A5025228565","display_name":"Hao Liu","orcid":"https://orcid.org/0000-0001-8365-8008"},"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":true,"raw_author_name":"Hao Liu","raw_affiliation_strings":["School of Astronautics, Beihang University, Beijing, China"],"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"]}]},{"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Frank L. Lewis","raw_affiliation_strings":["Arlington Research Institute, University of Texas at Arlington, Fort Worth, TX, USA","Arlington Research Institute, University of Texas at Arlington, Fort Worth, USA"],"raw_orcid":"https://orcid.org/0000-0003-4074-1615","affiliations":[{"raw_affiliation_string":"Arlington Research Institute, University of Texas at Arlington, Fort Worth, TX, USA","institution_ids":["https://openalex.org/I189196454"]},{"raw_affiliation_string":"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/A5080779586","display_name":"Kimon P. Valavanis","orcid":"https://orcid.org/0000-0003-2393-8539"},"institutions":[{"id":"https://openalex.org/I131651094","display_name":"University of Denver","ror":"https://ror.org/04w7skc03","country_code":"US","type":"education","lineage":["https://openalex.org/I131651094"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kimon P. Valavanis","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Denver, Denver, CO, USA","Department of Electrical and Computer Engineering, University of Denver, Denver, USA"],"raw_orcid":"https://orcid.org/0000-0003-2393-8539","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Denver, Denver, CO, USA","institution_ids":["https://openalex.org/I131651094"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Denver, Denver, USA","institution_ids":["https://openalex.org/I131651094"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5025228565"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":1.7805,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.85898173,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"69","issue":"7","first_page":"6880","last_page":"6890"},"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/T10246","display_name":"Mobile Ad Hoc Networks","score":0.9887999892234802,"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":0.9879000186920166,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6969655752182007},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5988731384277344},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.565982460975647},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.5367741584777832},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5027153491973877},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4964748024940491},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.47864043712615967},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4668581783771515},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4596433639526367},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.44310736656188965},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.42965206503868103},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42872732877731323},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3791053891181946},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3751755952835083},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3182469606399536},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.0654911994934082}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6969655752182007},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5988731384277344},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.565982460975647},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.5367741584777832},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5027153491973877},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4964748024940491},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.47864043712615967},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4668581783771515},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4596433639526367},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.44310736656188965},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.42965206503868103},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42872732877731323},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3791053891181946},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3751755952835083},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3182469606399536},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0654911994934082},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2020.2994949","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2020.2994949","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"}],"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/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/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"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"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":28,"referenced_works":["https://openalex.org/W1630241696","https://openalex.org/W1741382246","https://openalex.org/W1978570723","https://openalex.org/W1991540382","https://openalex.org/W2003446166","https://openalex.org/W2016910787","https://openalex.org/W2023008986","https://openalex.org/W2024351662","https://openalex.org/W2036571133","https://openalex.org/W2037539475","https://openalex.org/W2042733674","https://openalex.org/W2081296974","https://openalex.org/W2088195248","https://openalex.org/W2091083460","https://openalex.org/W2093597151","https://openalex.org/W2093848766","https://openalex.org/W2104791554","https://openalex.org/W2106413402","https://openalex.org/W2129891269","https://openalex.org/W2140337663","https://openalex.org/W2140665365","https://openalex.org/W2145979793","https://openalex.org/W2547345216","https://openalex.org/W2613864063","https://openalex.org/W2735822044","https://openalex.org/W2754375554","https://openalex.org/W2782363571","https://openalex.org/W2898358912"],"related_works":["https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4323768008","https://openalex.org/W4248382324","https://openalex.org/W4360995134","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W3023605104","https://openalex.org/W1980376593","https://openalex.org/W2145006118"],"abstract_inverted_index":{"This":[0],"article":[1],"focuses":[2],"on":[3],"designing":[4],"a":[5,11,58,95],"robust":[6,49,72],"time-varying":[7,109],"formation":[8,26,50,110],"controller":[9,60],"for":[10,94],"set":[12,96],"of":[13,37,57,77,97,103],"micro":[14,22,98],"quad-copters":[15,99],"with":[16,34],"switching":[17,86],"interaction":[18,87],"communication":[19,88],"topology.":[20,89],"Each":[21],"quad-copter":[23,39],"within":[24],"the":[25,35,78,101,104],"is":[27,53,68],"represented":[28],"by":[29],"an":[30,62],"under-actuated":[31],"nonlinear":[32],"model":[33],"dynamics":[36],"each":[38],"being":[40],"subjected":[41],"to":[42,70,83],"parameter":[43],"perturbations":[44],"and":[45,61,74,85,91],"external":[46],"disturbances.":[47],"A":[48],"control":[51,80,106],"protocol":[52,107],"proposed":[54,105],"that":[55],"consists":[56],"position":[59],"attitude":[63],"controller.":[64],"The":[65],"theoretical":[66],"analysis":[67],"detailed":[69],"prove":[71],"stability":[73],"tracking":[75],"performance":[76],"multi-vehicle":[79],"system,":[81],"subject":[82],"uncertainties":[84],"Experimental":[90],"simulation":[92],"results":[93],"validate":[100],"advantages":[102],"in":[108],"flights.":[111]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
