{"id":"https://openalex.org/W3128013515","doi":"https://doi.org/10.3390/s21041289","title":"Data Driven Model-Free Adaptive Control Method for Quadrotor Formation Trajectory Tracking Based on RISE and ISMC Algorithm","display_name":"Data Driven Model-Free Adaptive Control Method for Quadrotor Formation Trajectory Tracking Based on RISE and ISMC Algorithm","publication_year":2021,"publication_date":"2021-02-11","ids":{"openalex":"https://openalex.org/W3128013515","doi":"https://doi.org/10.3390/s21041289","mag":"3128013515","pmid":"https://pubmed.ncbi.nlm.nih.gov/33670241"},"language":"en","primary_location":{"id":"doi:10.3390/s21041289","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21041289","pdf_url":"https://www.mdpi.com/1424-8220/21/4/1289/pdf?version=1613648857","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/21/4/1289/pdf?version=1613648857","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101413639","display_name":"Dongdong Yuan","orcid":"https://orcid.org/0000-0001-8344-4990"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongdong Yuan","raw_affiliation_strings":["School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China"],"raw_orcid":"https://orcid.org/0000-0001-8344-4990","affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101542882","display_name":"Yankai Wang","orcid":"https://orcid.org/0000-0003-0904-7123"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yankai Wang","raw_affiliation_strings":["School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5101542882"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":{"value":2200,"currency":"CHF","value_usd":2376},"apc_paid":{"value":2200,"currency":"CHF","value_usd":2376},"fwci":1.3235,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.78022392,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":98},"biblio":{"volume":"21","issue":"4","first_page":"1289","last_page":"1289"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9995999932289124,"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":0.9995999932289124,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9993000030517578,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9934999942779541,"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":0.8445605635643005},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6713569164276123},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5961560606956482},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5220820307731628},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5080220699310303},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5076617002487183},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4586186408996582},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4579213857650757},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4415234327316284},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4303600788116455},{"id":"https://openalex.org/keywords/inner-loop","display_name":"Inner loop","score":0.42396894097328186},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4224259853363037},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3712800145149231},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2093113362789154},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11967360973358154},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.0973028838634491}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8445605635643005},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6713569164276123},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5961560606956482},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5220820307731628},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5080220699310303},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5076617002487183},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4586186408996582},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4579213857650757},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4415234327316284},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4303600788116455},{"id":"https://openalex.org/C58716799","wikidata":"https://www.wikidata.org/wiki/Q6035648","display_name":"Inner loop","level":3,"score":0.42396894097328186},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4224259853363037},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3712800145149231},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2093113362789154},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11967360973358154},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0973028838634491},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s21041289","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21041289","pdf_url":"https://www.mdpi.com/1424-8220/21/4/1289/pdf?version=1613648857","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:33670241","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33670241","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":"Sensors (Basel, Switzerland)","raw_type":"Journal Article"},{"id":"pmh:oai:pubmedcentral.nih.gov:7916927","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7916927","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:e87716a3e66e47168678161c0aaa7804","is_oa":true,"landing_page_url":"https://doaj.org/article/e87716a3e66e47168678161c0aaa7804","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 21, Iss 4, p 1289 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s21041289","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21041289","pdf_url":"https://www.mdpi.com/1424-8220/21/4/1289/pdf?version=1613648857","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.699999988079071,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320323110","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3128013515.pdf","grobid_xml":"https://content.openalex.org/works/W3128013515.grobid-xml"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W1494189632","https://openalex.org/W1513713550","https://openalex.org/W1641268918","https://openalex.org/W1902963647","https://openalex.org/W1969075014","https://openalex.org/W1974204180","https://openalex.org/W1974534430","https://openalex.org/W1986045690","https://openalex.org/W1999921708","https://openalex.org/W2018850871","https://openalex.org/W2035933463","https://openalex.org/W2042733674","https://openalex.org/W2049532088","https://openalex.org/W2062256672","https://openalex.org/W2074057033","https://openalex.org/W2082829278","https://openalex.org/W2090837578","https://openalex.org/W2101433417","https://openalex.org/W2135836082","https://openalex.org/W2168644316","https://openalex.org/W2193718162","https://openalex.org/W2247650756","https://openalex.org/W2296449865","https://openalex.org/W2319954399","https://openalex.org/W2327553808","https://openalex.org/W2343802677","https://openalex.org/W2551075708","https://openalex.org/W2557310356","https://openalex.org/W2584450351","https://openalex.org/W2591450040","https://openalex.org/W2765082137","https://openalex.org/W2887736113","https://openalex.org/W2915315059","https://openalex.org/W2963078509","https://openalex.org/W2972057980","https://openalex.org/W2985382043","https://openalex.org/W3013061089","https://openalex.org/W3019384758","https://openalex.org/W3025761030","https://openalex.org/W3036964726","https://openalex.org/W3126997694"],"related_works":["https://openalex.org/W2372856383","https://openalex.org/W2110982267","https://openalex.org/W1545539801","https://openalex.org/W2117379282","https://openalex.org/W2005085248","https://openalex.org/W1973429430","https://openalex.org/W3006614820","https://openalex.org/W2354493725","https://openalex.org/W1989996768","https://openalex.org/W4280596088"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,71,107,152],"solve":[3],"the":[4,37,40,55,73,76,93,101,105,115,121,137,161,169,173,177,181,184,189,193,196,199,202,214,222,231,238,241,244,247,253],"problems":[5],"of":[6,13,36,39,67,120,136,172,183,195,201,237,246],"complex":[7],"dynamic":[8],"modeling":[9],"and":[10,43,54,92,110,117,126,133,149,158,175,192,198,227,256,259,266],"parameters":[11],"identification":[12],"quadrotor":[14,30,68,223],"formation":[15,31,142,224,233],"cooperative":[16,143],"trajectory":[17,58,234],"tracking":[18,59,64,235],"control,":[19,144],"this":[20,111],"paper":[21],"proposes":[22],"a":[23],"data-driven":[24,65,216],"model-free":[25,217],"adaptive":[26,146,218],"control":[27,47,72,91,156,219,236,263],"method":[28,103,112,220],"for":[29,89,96,221],"based":[32],"on":[33,130,168,252],"robust":[34],"integral":[35],"signum":[38],"error":[41],"(RISE)":[42],"improved":[44],"sliding":[45,154],"mode":[46,155],"(ISMC).":[48],"The":[49,85,139,209],"leader-follower":[50],"strategy":[51],"is":[52,69,80,88,186,225],"adopted,":[53],"leader":[56],"realizes":[57],"control.":[60,98],"A":[61],"novel":[62],"asymptotic":[63],"controller":[66,165,248],"used":[70],"system":[74,125,185],"using":[75],"RISE":[77,102],"method.":[78],"It":[79],"divided":[81],"into":[82],"two":[83],"parts:":[84],"inner":[86],"loop":[87,95,106],"attitude":[90],"outer":[94],"position":[97],"Both":[99],"use":[100],"in":[104],"eliminate":[108],"interference":[109],"only":[113],"uses":[114],"input":[116],"output":[118],"data":[119],"unmanned":[122],"aerial":[123],"vehicle(UAV)":[124],"does":[127,249],"not":[128,250],"rely":[129],"any":[131],"dynamics":[132,257],"kinematics":[134,255],"model":[135,171],"UAV.":[138],"followers":[140],"realize":[141,230],"introducing":[145],"update":[147],"law":[148],"saturation":[150],"function":[151],"improve":[153],"(SMC),":[157],"it":[159,260],"eliminates":[160],"general":[162],"SMC":[163],"algorithm":[164,197],"design":[166,245],"dependence":[167],"mathematical":[170],"UAV":[174,254],"has":[176,261],"chattering":[178],"problem.":[179],"Then,":[180],"stability":[182],"proved":[187],"by":[188,206],"Lyapunov":[190],"method,":[191],"effectiveness":[194],"feasibility":[200],"scheme":[203],"are":[204],"verified":[205],"numerical":[207],"simulation.":[208],"experimental":[210],"results":[211],"show":[212],"that":[213],"designed":[215],"effective":[226],"can":[228],"effectively":[229],"coordinated":[232],"quadrotor.":[239],"At":[240],"same":[242],"time,":[243],"depend":[251],"model,":[258],"high":[262],"accuracy,":[264],"stability,":[265],"robustness.":[267]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}
