{"id":"https://openalex.org/W2953944788","doi":"https://doi.org/10.1177/0142331219851925","title":"Disturbance observer-based formation tracking control of multiple quadrotors in the presence of disturbances","display_name":"Disturbance observer-based formation tracking control of multiple quadrotors in the presence of disturbances","publication_year":2019,"publication_date":"2019-06-06","ids":{"openalex":"https://openalex.org/W2953944788","doi":"https://doi.org/10.1177/0142331219851925","mag":"2953944788"},"language":"en","primary_location":{"id":"doi:10.1177/0142331219851925","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0142331219851925","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","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/A5038894637","display_name":"Izzuddin Mat Lazim","orcid":"https://orcid.org/0000-0002-1909-6933"},"institutions":[{"id":"https://openalex.org/I4576418","display_name":"University of Technology Malaysia","ror":"https://ror.org/026w31v75","country_code":"MY","type":"education","lineage":["https://openalex.org/I4576418"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Izzuddin M Lazim","raw_affiliation_strings":["School of Electrical Engineering, Faculty of Engineering, Universiti Teknologi Malaysia, Malaysia"],"raw_orcid":"https://orcid.org/0000-0002-1909-6933","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Faculty of Engineering, Universiti Teknologi Malaysia, Malaysia","institution_ids":["https://openalex.org/I4576418"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012296727","display_name":"Abdul Rashid Husain","orcid":"https://orcid.org/0000-0002-3658-2933"},"institutions":[{"id":"https://openalex.org/I4576418","display_name":"University of Technology Malaysia","ror":"https://ror.org/026w31v75","country_code":"MY","type":"education","lineage":["https://openalex.org/I4576418"]}],"countries":["MY"],"is_corresponding":true,"raw_author_name":"Abdul Rashid Husain","raw_affiliation_strings":["School of Electrical Engineering, Faculty of Engineering, Universiti Teknologi Malaysia, Malaysia"],"raw_orcid":"https://orcid.org/0000-0002-3658-2933","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Faculty of Engineering, Universiti Teknologi Malaysia, Malaysia","institution_ids":["https://openalex.org/I4576418"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069364931","display_name":"Z. Mohamed","orcid":"https://orcid.org/0000-0002-2719-4138"},"institutions":[{"id":"https://openalex.org/I4576418","display_name":"University of Technology Malaysia","ror":"https://ror.org/026w31v75","country_code":"MY","type":"education","lineage":["https://openalex.org/I4576418"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Zaharuddin Mohamed","raw_affiliation_strings":["School of Electrical Engineering, Faculty of Engineering, Universiti Teknologi Malaysia, Malaysia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Faculty of Engineering, Universiti Teknologi Malaysia, Malaysia","institution_ids":["https://openalex.org/I4576418"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057197759","display_name":"Mohd Ariffanan Mohd Basri","orcid":"https://orcid.org/0000-0002-0397-5220"},"institutions":[{"id":"https://openalex.org/I4576418","display_name":"University of Technology Malaysia","ror":"https://ror.org/026w31v75","country_code":"MY","type":"education","lineage":["https://openalex.org/I4576418"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Mohd Ariffanan Mohd Basri","raw_affiliation_strings":["School of Electrical Engineering, Faculty of Engineering, Universiti Teknologi Malaysia, Malaysia"],"raw_orcid":"https://orcid.org/0000-0002-0397-5220","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Faculty of Engineering, Universiti Teknologi Malaysia, Malaysia","institution_ids":["https://openalex.org/I4576418"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102882633","display_name":"Nurul Adilla Mohd Subha","orcid":"https://orcid.org/0000-0001-6427-1780"},"institutions":[{"id":"https://openalex.org/I4576418","display_name":"University of Technology Malaysia","ror":"https://ror.org/026w31v75","country_code":"MY","type":"education","lineage":["https://openalex.org/I4576418"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Nurul Adilla Mohd Subha","raw_affiliation_strings":["School of Electrical Engineering, Faculty of Engineering, Universiti Teknologi Malaysia, Malaysia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Faculty of Engineering, Universiti Teknologi Malaysia, Malaysia","institution_ids":["https://openalex.org/I4576418"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072109688","display_name":"Liyana Ramli","orcid":"https://orcid.org/0000-0001-7527-1401"},"institutions":[{"id":"https://openalex.org/I4576418","display_name":"University of Technology Malaysia","ror":"https://ror.org/026w31v75","country_code":"MY","type":"education","lineage":["https://openalex.org/I4576418"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Liyana Ramli","raw_affiliation_strings":["School of Electrical Engineering, Faculty of Engineering, Universiti Teknologi Malaysia, Malaysia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Faculty of Engineering, Universiti Teknologi Malaysia, Malaysia","institution_ids":["https://openalex.org/I4576418"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5012296727"],"corresponding_institution_ids":["https://openalex.org/I4576418"],"apc_list":null,"apc_paid":null,"fwci":2.6014,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.9055436,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"41","issue":"14","first_page":"4129","last_page":"4141"},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9952999949455261,"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"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9926000237464905,"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":0.8865214586257935},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.644286036491394},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.6126068830490112},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5231755375862122},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5059191584587097},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.45534831285476685},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.4549304246902466},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.4336228370666504},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41507089138031006},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40905365347862244},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.30532363057136536},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.296781450510025},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13219144940376282},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.05336150527000427}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8865214586257935},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.644286036491394},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.6126068830490112},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5231755375862122},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5059191584587097},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.45534831285476685},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.4549304246902466},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.4336228370666504},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41507089138031006},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40905365347862244},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.30532363057136536},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.296781450510025},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13219144940376282},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.05336150527000427},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0142331219851925","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0142331219851925","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W19566421","https://openalex.org/W1484914609","https://openalex.org/W1487127700","https://openalex.org/W1534826615","https://openalex.org/W1551426843","https://openalex.org/W1741382246","https://openalex.org/W1956651624","https://openalex.org/W1978314280","https://openalex.org/W1989515509","https://openalex.org/W2012085659","https://openalex.org/W2012812921","https://openalex.org/W2041903495","https://openalex.org/W2050090436","https://openalex.org/W2064293659","https://openalex.org/W2070805398","https://openalex.org/W2081334268","https://openalex.org/W2103641605","https://openalex.org/W2111161038","https://openalex.org/W2112058052","https://openalex.org/W2129891269","https://openalex.org/W2130487596","https://openalex.org/W2136172728","https://openalex.org/W2149683585","https://openalex.org/W2162992515","https://openalex.org/W2163114046","https://openalex.org/W2168644316","https://openalex.org/W2180959889","https://openalex.org/W2264516470","https://openalex.org/W2279567729","https://openalex.org/W2282176601","https://openalex.org/W2343802677","https://openalex.org/W2465465239","https://openalex.org/W2474508416","https://openalex.org/W2500968061","https://openalex.org/W2544041682","https://openalex.org/W2551075708","https://openalex.org/W2788281511","https://openalex.org/W2790742319","https://openalex.org/W2887736113","https://openalex.org/W4301958477"],"related_works":["https://openalex.org/W2383266483","https://openalex.org/W1998462347","https://openalex.org/W2349527210","https://openalex.org/W1836713364","https://openalex.org/W4300511988","https://openalex.org/W2131265573","https://openalex.org/W2899783744","https://openalex.org/W2317650444","https://openalex.org/W130230158","https://openalex.org/W2913529325"],"abstract_inverted_index":{"The":[0,43],"presence":[1],"of":[2,12,30,41,50,91,138,144,163],"disturbances":[3],"may":[4],"bring":[5],"adverse":[6],"effects":[7],"to":[8,32,64,76,102,108,126],"the":[9,26,34,39,48,51,62,66,80,88,92,104,113,136,139,149,161,164,177,180],"formation":[10,27,36,97,115,172,178],"flight":[11],"multiple":[13,145],"quadrotors.":[14],"This":[15,68],"paper":[16],"proposes":[17],"a":[18,73,95,127,169],"robust":[19,171],"disturbance":[20,74,82,181],"observer-based":[21],"feedback":[22,55,89],"linearization":[23,90],"that":[24,83,129],"enhances":[25],"tracking":[28,98,173],"control":[29,52,132,166],"quadrotors":[31,105],"achieve":[33],"desired":[35,114],"shapes":[37],"under":[38,154],"effect":[40],"disturbances.":[42,67],"method":[44],"not":[45],"only":[46],"retains":[47],"simplicity":[49],"scheme":[53,167],"using":[54,148],"linearized":[56],"quadrotor":[57,146],"model,":[58],"but":[59],"also":[60],"has":[61,130],"capability":[63],"reject":[65],"is":[69,100],"achieved":[70],"by":[71],"introducing":[72],"observer":[75],"estimate":[77],"and":[78,111,117],"attenuate":[79],"lumped":[81],"causes":[84],"inexact":[85],"inversion":[86],"in":[87],"quadrotor.":[93],"Then,":[94],"distributed":[96],"algorithm":[99],"adopted":[101],"ensure":[103],"are":[106,152],"able":[107],"form":[109],"up":[110],"maintain":[112],"shape":[116],"heading":[118],"via":[119],"local":[120],"communication":[121],"between":[122],"neighbours":[123],"with":[124,176],"respect":[125],"leader":[128],"nonzero":[131],"input.":[133],"To":[134],"evaluate":[135],"effectiveness":[137],"proposed":[140,150,165],"method,":[141],"simulation":[142],"experiments":[143],"formations":[147],"approach":[151],"conducted":[153],"several":[155],"test":[156],"cases.":[157],"Results":[158],"obtained":[159],"demonstrate":[160],"superiority":[162],"for":[168],"more":[170],"as":[174],"compared":[175],"without":[179],"observer.":[182]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}