{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,10]],"date-time":"2026-06-10T11:07:26Z","timestamp":1781089646666,"version":"3.54.1"},"reference-count":88,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2019,9,5]],"date-time":"2019-09-05T00:00:00Z","timestamp":1567641600000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2019,9,5]],"date-time":"2019-09-05T00:00:00Z","timestamp":1567641600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2020,5]]},"DOI":"10.1007\/s10846-019-01085-z","type":"journal-article","created":{"date-parts":[[2019,9,5]],"date-time":"2019-09-05T08:04:06Z","timestamp":1567670646000},"page":"241-265","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":113,"title":["A Survey of Path Following Control Strategies for UAVs Focused on Quadrotors"],"prefix":"10.1007","volume":"98","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8822-2681","authenticated-orcid":false,"given":"Bartomeu","family":"Rub\u00ed","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ramon","family":"P\u00e9rez","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bernardo","family":"Morcego","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2019,9,5]]},"reference":[{"issue":"8","key":"1085_CR1","doi-asserted-by":"publisher","first-page":"1362","DOI":"10.1109\/TAC.2007.902731","volume":"52","author":"AP Aguiar","year":"2007","unstructured":"Aguiar, A.P., Hespanha, J.P.: Trajectory-tracking and path-following of underactuated autonomous vehicles with parametric modeling uncertainty. IEEE Trans. Autom. Control 52(8), 1362\u20131379 (2007). \nhttps:\/\/doi.org\/10.1109\/TAC.2007.902731","journal-title":"IEEE Trans. Autom. Control"},{"issue":"3","key":"1085_CR2","doi-asserted-by":"publisher","first-page":"598","DOI":"10.1016\/j.automatica.2007.06.030","volume":"44","author":"AP Aguiar","year":"2008","unstructured":"Aguiar, A.P., Hespanha, J.P., Kokotovic, P.V.: Performance limitations in reference tracking and path following for nonlinear systems. Automatica 44(3), 598\u2013610 (2008). \nhttps:\/\/doi.org\/10.1016\/j.automatica.2007.06.030","journal-title":"Automatica"},{"key":"1085_CR3","doi-asserted-by":"crossref","unstructured":"Akhtar, A., Waslander, S.L., Nielsen, C.: Path following for a quadrotor using dynamic extension and transverse feedback linearization. In: 2012 IEEE 51st Annual Conference on Decision and Control (CDC), IEEE Conference on Decision and Control, pp. 3551\u20133556 (2012)","DOI":"10.1109\/CDC.2012.6425945"},{"key":"1085_CR4","doi-asserted-by":"crossref","unstructured":"Akhtar, A., Waslander, S.L., Nielsen, C.: Fault Tolerant Path Following for a Quadrotor. In: 2013 IEEE 52nd Annual Conference on Decision and Control (CDC), Conference on Decision and Control, pp. 847\u2013852 (2013)","DOI":"10.1109\/CDC.2013.6759988"},{"key":"1085_CR5","doi-asserted-by":"publisher","unstructured":"Akkinapalli, V.S., Niermeyer, P., Lohmann, B., Holzapfel, F.: Adaptive nonlinear design plant uncertainty cancellation for a multirotor. In: 2016 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1102\u20131110 (2016). \nhttps:\/\/doi.org\/10.1109\/ICUAS.2016.7502555","DOI":"10.1109\/ICUAS.2016.7502555"},{"issue":"3","key":"1085_CR6","doi-asserted-by":"publisher","first-page":"443","DOI":"10.1007\/s10846-015-0238-7","volume":"81","author":"K Alexis","year":"2016","unstructured":"Alexis, K., Papachristos, C., Siegwart, R., Tzes, A.: Robust model predictive flight control of unmanned rotorcrafts. J. Intell. Robot. Syst. 81(3), 443\u2013469 (2016). \nhttps:\/\/doi.org\/10.1007\/s10846-015-0238-7","journal-title":"J. Intell. Robot. Syst."},{"key":"1085_CR7","doi-asserted-by":"publisher","first-page":"88","DOI":"10.1016\/j.ast.2015.11.033","volume":"49","author":"SU Ali","year":"2016","unstructured":"Ali, S.U., Samar, R., Shah, M.Z., Bhatti, A.I., Munawar, K., Al-Sggaf, U.M.: Lateral guidance and control of UAVs using second-order sliding modes. Aerosp. Sci. Technol. 49, 88\u2013100 (2016). \nhttps:\/\/doi.org\/10.1016\/j.ast.2015.11.033","journal-title":"Aerosp. Sci. Technol."},{"issue":"4","key":"1085_CR8","doi-asserted-by":"publisher","first-page":"980","DOI":"10.1109\/TCST.2009.2014359","volume":"17","author":"G Ambrosino","year":"2009","unstructured":"Ambrosino, G., Ariola, M., Ciniglio, U., Corraro, F., De Lellis, E., Pironti, A.: Path generation and tracking in 3-D for UAVs. IEEE Trans. Control Syst. Technol. 17(4), 980\u2013988 (2009). \nhttps:\/\/doi.org\/10.1109\/TCST.2009.2014359","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"1085_CR9","doi-asserted-by":"publisher","unstructured":"Amidi, O., Thorpe, C.: Integrated mobile robot control. In: Mobile Robots V., vol. 1388 (1991) \nhttps:\/\/doi.org\/10.1117\/12.25494","DOI":"10.1117\/12.25494"},{"issue":"2","key":"1085_CR10","doi-asserted-by":"publisher","first-page":"87","DOI":"10.1504\/IJAAC.2016.076453","volume":"10","author":"R Amin","year":"2016","unstructured":"Amin, R., Aijun, L., Shamshirband, S.: A review of quadrotor UAV: control methodologies and performance evaluation. Int. J. Autom. Control. 10(2), 87\u2013103 (2016). \nhttps:\/\/doi.org\/10.1504\/IJAAC.2016.076453","journal-title":"Int. J. Autom. Control."},{"key":"1085_CR11","doi-asserted-by":"publisher","unstructured":"Baca, T., Loianno, G., Saska, M.: Embedded model predictive control of unmanned micro aerial vehicles. In: 2016 21st International Conference on Methods and Models in Automation and Robotics (MMAR), pp. 992\u2013997 (2016). \nhttps:\/\/doi.org\/10.1109\/MMAR.2016.7575273","DOI":"10.1109\/MMAR.2016.7575273"},{"issue":"3","key":"1085_CR12","doi-asserted-by":"publisher","first-page":"12","DOI":"10.5755\/j01.eie.23.3.18325","volume":"23","author":"A Ba\u015f\u00e7i","year":"2017","unstructured":"Ba\u015f\u00e7i, A., Can, K., Orman, K., Derdiyok, A.: Trajectory tracking control of a four rotor unmanned aerial vehicle based on continuous sliding mode controller. Elektronika Ir ElektrotechnikA 23(3), 12\u201319 (2017)","journal-title":"Elektronika Ir ElektrotechnikA"},{"key":"1085_CR13","doi-asserted-by":"publisher","unstructured":"Bouabdallah, S., Murrieri, P., Siegwart, R.: Design and Control of an Indoor Micro Quadrotor. In: 2004 IEEE International Conference on Robotics and Automation (ICRA), vol. 5, pp. 4393\u20134398 (2004). \nhttps:\/\/doi.org\/10.1109\/ROBOT.2004.1302409","DOI":"10.1109\/ROBOT.2004.1302409"},{"issue":"10","key":"1085_CR14","doi-asserted-by":"publisher","first-page":"1122","DOI":"10.1109\/9.90226","volume":"36","author":"C Byrnes","year":"1991","unstructured":"Byrnes, C., Isidori, A.: Asymptotic stabilization of minimum phase nonlinear-systems. IEEE Trans. Autom. Control 36(10), 1122\u20131137 (1991). \nhttps:\/\/doi.org\/10.1109\/9.90226","journal-title":"IEEE Trans. Autom. Control"},{"key":"1085_CR15","doi-asserted-by":"publisher","unstructured":"Cabecinhas, D., Cunha, R., Silvestre, C.: Rotorcraft path following control for extended flight envelope coverage. In: Proceedings of the 48th IEEE Conference on Decision and Control, 2009 Held Jointly with the 2009 28th Chinese Control Conference (CDC\/CCC 2009), IEEE Conference on Decision and Control, pp. 3460\u20133465 (2009). \nhttps:\/\/doi.org\/10.1109\/CDC.2009.5400665","DOI":"10.1109\/CDC.2009.5400665"},{"issue":"2","key":"1085_CR16","doi-asserted-by":"publisher","first-page":"708","DOI":"10.1109\/TCST.2014.2326820","volume":"23","author":"D Cabecinhas","year":"2015","unstructured":"Cabecinhas, D., Cunha, R., Silvestre, C.: A globally stabilizing path following controller for rotorcraft with wind disturbance rejection. IEEE Trans. Control Syst. Technol. 23(2), 708\u2013714 (2015). \nhttps:\/\/doi.org\/10.1109\/TCST.2014.2326820","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"1085_CR17","volume-title":"Model Predictive Control. Advanced Textbooks in Control and Signal Processing","author":"E Camacho","year":"2004","unstructured":"Camacho, E., Bordons, C.: Model Predictive Control. Advanced Textbooks in Control and Signal Processing. Springer, London (2004). \nhttps:\/\/books.google.es\/books?id=Sc1H3f3E8CQC"},{"issue":"2","key":"1085_CR18","doi-asserted-by":"publisher","first-page":"840","DOI":"10.1109\/TAES.2013.6494384","volume":"49","author":"H Chen","year":"2013","unstructured":"Chen, H., Chang, K., Agate, C.S.: UAV path planning with tangent-plus-Lyapunov vector field guidance and obstacle avoidance. IEEE Trans. Aerosp. Electron. Syst. 49(2), 840\u2013856 (2013)","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"1085_CR19","doi-asserted-by":"publisher","unstructured":"Chen, Y., Liang, J., Wang, C., Zhang, Y.: Combined of Lyapunov-stable and active disturbance rejection control for the path following of a small unmanned aerial vehicle. Int. J. Adv. Robot. Syst. 14(2). \nhttps:\/\/doi.org\/10.1177\/1729881417699150\n\n (2017)","DOI":"10.1177\/1729881417699150"},{"key":"1085_CR20","doi-asserted-by":"publisher","first-page":"11","DOI":"10.1155\/2017\/6712602","volume":"2017","author":"Y Chen","year":"2017","unstructured":"Chen, Y., Liang, J., Wang, C., Zhang, Y., Wang, T., Xue, C.: Planar smooth path guidance law for a small unmanned aerial vehicle with parameter tuned by fuzzy logic. Journal of Control Science and Engineering 2017, 11 (2017). \nhttps:\/\/doi.org\/10.1155\/2017\/6712602","journal-title":"Journal of Control Science and Engineering"},{"key":"1085_CR21","doi-asserted-by":"publisher","first-page":"878","DOI":"10.1016\/j.neucom.2015.07.044","volume":"171","author":"Y Chen","year":"2016","unstructured":"Chen, Y., Yu, J., Mei, Y., Wang, Y., Su, X.: Modified central force optimization (MCFO) algorithm for 3D UAV path planning. Neurocomputing 171, 878\u2013888 (2016). \nhttps:\/\/doi.org\/10.1016\/j.neucom.2015.07.044","journal-title":"Neurocomputing"},{"issue":"1, SI","key":"1085_CR22","doi-asserted-by":"publisher","first-page":"229","DOI":"10.1007\/s10846-014-0077-y","volume":"77","author":"Y Chen","year":"2015","unstructured":"Chen, Y., Yu, J., Su, X., Luo, G.: Path planning for multi-UAV formation. Journal of Intelligent & Robotic Systems 77(1, SI), 229\u2013246 (2015). \nhttps:\/\/doi.org\/10.1007\/s10846-014-0077-y","journal-title":"Journal of Intelligent & Robotic Systems"},{"issue":"12","key":"1085_CR23","doi-asserted-by":"publisher","first-page":"2366","DOI":"10.2514\/1.G001060","volume":"38","author":"N Cho","year":"2015","unstructured":"Cho, N., Kim, Y., Park, S.: Three-dimensional nonlinear differential geometric path-following guidance law. J. Guid. Control Dynam. 38(12), 2366\u20132385 (2015). \nhttps:\/\/doi.org\/10.2514\/1.G001060","journal-title":"J. Guid. Control Dynam."},{"issue":"4","key":"1085_CR24","doi-asserted-by":"publisher","first-page":"1826","DOI":"10.1007\/s12555-015-0483-3","volume":"15","author":"S Choi","year":"2017","unstructured":"Choi, S., Kim, S., Jin Kim, H.: Inverse reinforcement learning control for trajectory tracking of a multirotor UAV. Int. J. Control. Autom. Syst. 15(4), 1826\u20131834 (2017). \nhttps:\/\/doi.org\/10.1007\/s12555-015-0483-3","journal-title":"Int. J. Control. Autom. Syst."},{"key":"1085_CR25","doi-asserted-by":"publisher","unstructured":"Cichella, V., Choe, R., Mehdi, S.B., Xargay, E., Hovakimyan, N., Kaminer, I., Dobrokhodov, V.: A 3d path-following approach for a multirotor uav on so(3). In: IFAC Proceedings Volumes, vol. 46, pp. 13\u201318 (2013). \nhttps:\/\/doi.org\/10.3182\/20131120-3-FR-4045.00039","DOI":"10.3182\/20131120-3-FR-4045.00039"},{"issue":"3","key":"1085_CR26","doi-asserted-by":"publisher","first-page":"945","DOI":"10.1109\/TASE.2015.2406758","volume":"12","author":"V Cichella","year":"2015","unstructured":"Cichella, V., Kaminer, I., Dobrokhodov, V., Xargay, E., Choe, R., Hovakimyan, N., Aguiar, A.P., Pascoal, A.M.: Cooperative path following of multiple multirotors over time-varying networks. IEEE Trans. Autom. Sci. Eng. 12(3), 945\u2013957 (2015). \nhttps:\/\/doi.org\/10.1109\/TASE.2015.2406758","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"issue":"11","key":"1085_CR27","doi-asserted-by":"publisher","first-page":"1488","DOI":"10.1016\/j.conengprac.2013.04.011","volume":"21","author":"N Dadkhah","year":"2013","unstructured":"Dadkhah, N., Mettler, B.: Control system design and evaluation for robust autonomous rotorcraft guidance. Control. Eng. Pract. 21(11), 1488\u20131506 (2013). \nhttps:\/\/doi.org\/10.1016\/j.conengprac.2013.04.011","journal-title":"Control. Eng. Pract."},{"issue":"3","key":"1085_CR28","doi-asserted-by":"publisher","first-page":"497","DOI":"10.2307\/2372560","volume":"79","author":"L Dubins","year":"1957","unstructured":"Dubins, L.: On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents. Am. J. Math. 79(3), 497\u2013516 (1957). \nhttps:\/\/doi.org\/10.2307\/2372560","journal-title":"Am. J. Math."},{"key":"1085_CR29","doi-asserted-by":"publisher","DOI":"10.1201\/9781498701822","volume-title":"Sliding Mode Control: Theory And Applications. Series in Systems and Control","author":"C Edwards","year":"1998","unstructured":"Edwards, C., Spurgeon, S.: Sliding Mode Control: Theory And Applications. Series in Systems and Control. Taylor & Francis, New York (1998). \nhttps:\/\/books.google.es\/books?id=uH2RJhIPsiYC"},{"issue":"1","key":"1085_CR30","doi-asserted-by":"publisher","first-page":"51","DOI":"10.1007\/s10846-012-9734-1","volume":"70","author":"J Escare\u00f1o","year":"2013","unstructured":"Escare\u00f1o, J., Salazar, S., Romero, H., Lozano, R.: Trajectory control of a quadrotor subject to 2d wind disturbances. Journal of Intelligent Robotic & Systems 70(1), 51\u201363 (2013). \nhttps:\/\/doi.org\/10.1007\/s10846-012-9734-1","journal-title":"Journal of Intelligent Robotic & Systems"},{"issue":"4","key":"1085_CR31","doi-asserted-by":"publisher","first-page":"1026","DOI":"10.1109\/TAC.2015.2466911","volume":"61","author":"T Faulwasser","year":"2016","unstructured":"Faulwasser, T., Findeisen, R.: Nonlinear model predictive control for constrained output path following. IEEE Trans. Autom. Control 61(4), 1026\u20131039 (2016). \nhttps:\/\/doi.org\/10.1109\/TAC.2015.2466911","journal-title":"IEEE Trans. Autom. Control"},{"issue":"1","key":"1085_CR32","doi-asserted-by":"publisher","first-page":"86","DOI":"10.5755\/j01.itc.45.1.12413","volume":"45","author":"DC Gandolfo","year":"2016","unstructured":"Gandolfo, D.C., Salinas, L.R., Toibero, J.M., Brandao, A.: Path following for unmanned helicopter: an approach on energy autonomy improvement. Information Technology and Control 45(1), 86\u201398 (2016). \nhttps:\/\/doi.org\/10.5755\/j01.itc.45.1.12413","journal-title":"Information Technology and Control"},{"issue":"3","key":"1085_CR33","doi-asserted-by":"publisher","first-page":"335","DOI":"10.1016\/0005-1098(89)90002-2","volume":"25","author":"CE Garc\u00eda","year":"1989","unstructured":"Garc\u00eda, C.E., Prett, D.M., Morari, M.: Model predictive control: Theory and practice-a survey. Automatica 25(3), 335\u2013348 (1989). \nhttps:\/\/doi.org\/10.1016\/0005-1098(89)90002-2","journal-title":"Automatica"},{"key":"1085_CR34","doi-asserted-by":"crossref","unstructured":"Gautam, A., Sujit, P.B., Saripalli, S.: Application of guidance laws to quadrotor landing. In: 2015 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 372\u2013379 (2015)","DOI":"10.1109\/ICUAS.2015.7152312"},{"key":"1085_CR35","doi-asserted-by":"publisher","unstructured":"Gerlach, A.R., Kingston, D., Walker, B.K.: UAV navigation using predictive vector field control. In: 2014 American Control Conference, pp. 4907\u20134912. \nhttps:\/\/doi.org\/10.1109\/ACC.2014.6859082\n\n (2014)","DOI":"10.1109\/ACC.2014.6859082"},{"key":"1085_CR36","doi-asserted-by":"publisher","unstructured":"Gu, N., Wang, D., Liu, L., Zhang, B., Peng, Z.: Adaptive line-of-sight guidance law for synchronized path-following of under-actuated unmanned surface vehicles based on low-frequency learning. In: 2017 36th Chinese Control Conference (CCC), pp. 6632\u20136637 (2017). \nhttps:\/\/doi.org\/10.23919\/ChiCC.2017.8028408","DOI":"10.23919\/ChiCC.2017.8028408"},{"key":"1085_CR37","doi-asserted-by":"publisher","first-page":"129","DOI":"10.1016\/j.ast.2018.02.039","volume":"77","author":"Y Hamada","year":"2018","unstructured":"Hamada, Y., Tsukamoto, T., Ishimoto, S.: Receding horizon guidance of a small unmanned aerial vehicle for planar reference path following. Aerosp. Sci. Technol. 77, 129\u2013137 (2018). \nhttps:\/\/doi.org\/10.1016\/j.ast.2018.02.039","journal-title":"Aerosp. Sci. Technol."},{"key":"1085_CR38","unstructured":"Hartman, D., Landis, K., Mehrer, M., Moreno, S., Kim, J.: Quadcopter dynamic modeling and simulation (Quad-Sim) (2014). \nhttps:\/\/github.com\/dch33\/Quad-Sim"},{"key":"1085_CR39","doi-asserted-by":"publisher","unstructured":"Heng, X., Cabecinhas, D., Cunha, R., Silvestre, C., Qingsong, X.: A trajectory tracking Lqr controller for a Quadrotor: design and experimental evaluation. In: TENCON 2015 - 2015 IEEE Region 10 Conference, pp. 1\u20137. \nhttps:\/\/doi.org\/10.1109\/TENCON.2015.7372729\n\n (2015)","DOI":"10.1109\/TENCON.2015.7372729"},{"issue":"1-3, SI","key":"1085_CR40","doi-asserted-by":"publisher","first-page":"163","DOI":"10.1007\/s10846-008-9255-0","volume":"54","author":"D Jung","year":"2009","unstructured":"Jung, D., Ratti, J., Tsiotras, P.: Real-time implementation and validation of a new hierarchical path planning scheme of UAVs via hardware-in-the-loop simulation. J. Intell. Robot. Syst. 54(1-3, SI), 163\u2013181 (2009)","journal-title":"J. Intell. Robot. Syst."},{"issue":"1","key":"1085_CR41","doi-asserted-by":"publisher","first-page":"311","DOI":"10.1007\/s10846-016-0332-5","volume":"84","author":"W Jung","year":"2016","unstructured":"Jung, W., Lim, S., Lee, D., Bang, H.: Unmanned aircraft vector field path following with arrival angle control. Journal of Intelligent Robotic & Systems 84(1), 311\u2013325 (2016). \nhttps:\/\/doi.org\/10.1007\/s10846-016-0332-5","journal-title":"Journal of Intelligent Robotic & Systems"},{"key":"1085_CR42","doi-asserted-by":"publisher","unstructured":"Kaminer, I., Yakimenko, O., Pascoal, A., Ghabcheloo, R.: Path generation, path following and coordinated control for time-critical missions of multiple UAVs. In: 2006 American Control Conference, Proceedings of the American Control Conference. \nhttps:\/\/doi.org\/10.1109\/ACC.2006.1657498\n\n, vol. 1\u201312, p 4906+ (2006)","DOI":"10.1109\/ACC.2006.1657498"},{"key":"1085_CR43","doi-asserted-by":"crossref","unstructured":"Klausen, K., Fossen, T.I., Johansen, T.A., Aguiar, A.P.: Cooperative path-following for multirotor UAVs with a suspended payload. In: 2015 IEEE Conference on Control and Applications (CCA 2015), pp. 1354\u20131360 (2015)","DOI":"10.1109\/CCA.2015.7320800"},{"issue":"2","key":"1085_CR44","doi-asserted-by":"publisher","first-page":"125","DOI":"10.1016\/0167-6911(89)90029-7","volume":"13","author":"PV Kokotovic","year":"1989","unstructured":"Kokotovic, P.V., Sussmann, H.J.: A positive real condition for global stabilization of nonlinear systems. Syst. Control Lett. 13(2), 125\u2013133 (1989)","journal-title":"Syst. Control Lett."},{"key":"1085_CR45","first-page":"93","volume":"2","author":"M Kothari","year":"2009","unstructured":"Kothari, M., Postlethwaite, I., Gu, D.W.: A suboptimal path planning algorithm using rapidly-exploring random trees. International Journal of Aerospace Innovations 2, 93\u2013104 (2009)","journal-title":"International Journal of Aerospace Innovations"},{"key":"1085_CR46","doi-asserted-by":"publisher","unstructured":"Kukreti, S., Kumar, M., Cohen, K.: Genetically tuned Lqr based path following for UAVs under wind disturbance. In: 2016 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 267\u2013274. \nhttps:\/\/doi.org\/10.1109\/ICUAS.2016.7502620\n\n (2016)","DOI":"10.1109\/ICUAS.2016.7502620"},{"issue":"1","key":"1085_CR47","doi-asserted-by":"publisher","first-page":"281","DOI":"10.1007\/s12555-015-0289-3","volume":"15","author":"H Lee","year":"2017","unstructured":"Lee, H., Kim, H.J.: Trajectory tracking control of multirotors from modelling to experiments: a survey. Int. J. Control. Autom. Syst. 15(1), 281\u2013292 (2017). \nhttps:\/\/doi.org\/10.1007\/s12555-015-0289-3","journal-title":"Int. J. Control. Autom. Syst."},{"key":"1085_CR48","unstructured":"Li, L., Sun, L., Jin, J.: Survey of advances in control algorithms of quadrotor unmanned aerial vehicle. In: 2015 IEEE 16th International Conference on Communication Technology (ICCT), pp. 107\u2013111 (2015)"},{"issue":"1","key":"1085_CR49","doi-asserted-by":"publisher","first-page":"133","DOI":"10.1007\/s10846-015-0308-x","volume":"83","author":"Y Liang","year":"2016","unstructured":"Liang, Y., Jia, Y.: Combined vector field approach for 2D and 3D arbitrary twice differentiable curved path following with constrained UAVs. Journal of Intelligent Robotic & Systems 83(1), 133\u2013160 (2016). \nhttps:\/\/doi.org\/10.1007\/s10846-015-0308-x","journal-title":"Journal of Intelligent Robotic & Systems"},{"issue":"6","key":"1085_CR50","doi-asserted-by":"publisher","first-page":"1065","DOI":"10.12989\/sss.2014.13.6.1065","volume":"13","author":"P Liu","year":"2014","unstructured":"Liu, P., Chen, A.Y., Huang, Y.N., Han, J.Y., Lai, J.S., Kang, S.C., Wu, T.H., Wen, M.C., Tsai, M.H.: A review of rotorcraft unmanned aerial vehicle (UAV) developments and applications in civil engineering. Smart Struct. Syst. 13(6), 1065\u20131094 (2014)","journal-title":"Smart Struct. Syst."},{"issue":"1","key":"1085_CR51","doi-asserted-by":"publisher","first-page":"38","DOI":"10.5772\/62128","volume":"13","author":"W Lou","year":"2016","unstructured":"Lou, W., Guo, X.: Adaptive trajectory tracking control using reinforcement learning for quadrotor. Int. J. Adv. Robot. Syst. 13(1), 38 (2016). \nhttps:\/\/doi.org\/10.5772\/62128","journal-title":"Int. J. Adv. Robot. Syst."},{"issue":"3","key":"1085_CR52","doi-asserted-by":"publisher","first-page":"20","DOI":"10.1109\/MRA.2012.2206474","volume":"19","author":"R Mahony","year":"2012","unstructured":"Mahony, R., Kumar, V., Corke, P.: Multirotor aerial vehicles: modeling, estimation, and control of quadrotor. IEEE Robot. Autom. Mag. 19(3), 20\u201332 (2012). \nhttps:\/\/doi.org\/10.1109\/MRA.2012.2206474","journal-title":"IEEE Robot. Autom. Mag."},{"key":"1085_CR53","doi-asserted-by":"publisher","unstructured":"Manjunath, A., Mehrok, P., Sharma, R., Ratnoo, A.: Application of virtual target based guidance laws to path following of a quadrotor UAV. In: 2016 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 252\u2013260. \nhttps:\/\/doi.org\/10.1109\/ICUAS.2016.7502565\n\n (2016)","DOI":"10.1109\/ICUAS.2016.7502565"},{"key":"1085_CR54","doi-asserted-by":"crossref","unstructured":"de Marina, H.G., Kapitanyuk, Y.A., Bronz, M., Hattenberger, G., Cao, M.: Guidance algorithm for smooth trajectory tracking of a fixed wing UAV flying in wind flows. In: 2017 IEEE International Conference on Tobotics and Automation (ICRA), pp. 5740\u20135745 (2017)","DOI":"10.1109\/ICRA.2017.7989674"},{"key":"1085_CR55","doi-asserted-by":"crossref","unstructured":"Martinsen, A.B., Lekkas, A.M.: Curved path following with deep reinforcement learning: Results from three vessel models. OCEANS 2018 MTS\/IEEE Charleston, pp. 1\u20138 (2018)","DOI":"10.1109\/OCEANS.2018.8604829"},{"issue":"6","key":"1085_CR56","doi-asserted-by":"publisher","first-page":"789","DOI":"10.1016\/S0005-1098(99)00214-9","volume":"36","author":"D Mayne","year":"2000","unstructured":"Mayne, D., Rawlings, J., Rao, C., Scokaert, P.: Constrained model predictive control: Stability and optimality. Automatica 36(6), 789\u2013814 (2000). \nhttps:\/\/doi.org\/10.1016\/S0005-1098(99)00214-9","journal-title":"Automatica"},{"key":"1085_CR57","doi-asserted-by":"publisher","unstructured":"Mendoza-Soto, J.L., Corona-Sanchez, J.J., Rodriguez-Cortes, H.: Quadcopter path following control. a maneuvering approach. Journal of Intelligent & Robotic Systems. \nhttps:\/\/doi.org\/10.1007\/s10846-018-0801-0\n\n (2018)","DOI":"10.1007\/s10846-018-0801-0"},{"key":"1085_CR58","doi-asserted-by":"publisher","first-page":"1","DOI":"10.5772\/53615","volume":"9","author":"CX Miao","year":"2012","unstructured":"Miao, C.X., Fang, J.C.: An adaptive three-dimensional nonlinear path following method for a fix-wing micro aerial vehicle. Int. J. Adv. Robot. Syst. 9, 1 (2012)","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"1085_CR59","doi-asserted-by":"crossref","unstructured":"Micaelli, A., Samson, C., Robotique, P., Icare, P.: Trajectory tracking for unicycle-type and two-steering-wheels mobile robots. In: IFAC Proceedings Volumes, vol. 27, pp. 249\u2013256 (1994)","DOI":"10.1016\/S1474-6670(17)47322-8"},{"issue":"3","key":"1085_CR60","doi-asserted-by":"publisher","first-page":"519","DOI":"10.1109\/TRO.2007.898976","volume":"23","author":"DR Nelson","year":"2007","unstructured":"Nelson, D.R., Barber, D.B., McLain, T.W., Beard, R.W.: Vector field path following for miniature air vehicles. IEEE Transactions on Robotics 23(3), 519\u2013529 (2007). \nhttps:\/\/doi.org\/10.1109\/TRO.2007.898976","journal-title":"IEEE Transactions on Robotics"},{"key":"1085_CR61","doi-asserted-by":"crossref","unstructured":"Nie, C., Zheng, Z., Cai, Z.: Three-dimensional path-following control of a robotic airship with reinforcement learning. In: 2019 International Journal of Aerospace Engineering (2019)","DOI":"10.1155\/2019\/7854173"},{"key":"1085_CR62","doi-asserted-by":"publisher","unstructured":"Niermeyer, P., Akkinapalli, V.S., Pak, M., Holzapfel, F., Lohmann, B.: Geometric path following control for multirotor vehicles using nonlinear model predictive control and 3D spline paths. In: 2016 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 126\u2013134. \nhttps:\/\/doi.org\/10.1109\/ICUAS.2016.7502541\n\n (2016)","DOI":"10.1109\/ICUAS.2016.7502541"},{"key":"1085_CR63","doi-asserted-by":"publisher","unstructured":"Ollero, A., Heredia, G.: Stability analysis of mobile robot path tracking. In: Proceedings 1995 IEEE\/RSJ International Conference on Intelligent Robots and Systems. Human Interaction and Cooperative Robots, vol. 3, pp. 461\u2013466 (1995). \nhttps:\/\/doi.org\/10.1109\/IROS.1995.525925","DOI":"10.1109\/IROS.1995.525925"},{"issue":"5, SI","key":"1085_CR64","doi-asserted-by":"publisher","first-page":"529","DOI":"10.1177\/0142331215608427","volume":"38","author":"NS Ozbek","year":"2016","unstructured":"Ozbek, N.S., Onkol, M., Efe, M.O.: Feedback control strategies for quadrotor-type aerial robots: a survey. Trans. Inst. Meas. Control. 38(5, SI), 529\u2013554 (2016). \nhttps:\/\/doi.org\/10.1177\/0142331215608427","journal-title":"Trans. Inst. Meas. Control."},{"key":"1085_CR65","doi-asserted-by":"publisher","first-page":"1718","DOI":"10.2514\/1.28957","volume":"30","author":"S Park","year":"2007","unstructured":"Park, S., Deyst, J., How, J.: Performance and lyapunov stability of a nonlinear path-following guidance method. J. Guid. Control Dynam. 30, 1718\u20131728 (2007)","journal-title":"J. Guid. Control Dynam."},{"key":"1085_CR66","doi-asserted-by":"crossref","unstructured":"Raffo, G.V., Ortega, M.G., Rubio, F.R.: Backstepping\/nonlinear h-infinity control for path tracking of a quadrotor unmanned aerial vehicle. In: 2008 American Control Conference, vol. 1\u201312, pp. 3356\u20133361 (2008)","DOI":"10.1109\/ACC.2008.4587010"},{"key":"1085_CR67","doi-asserted-by":"publisher","first-page":"106","DOI":"10.2514\/1.G000300","volume":"38","author":"A Ratnoo","year":"2015","unstructured":"Ratnoo, A., Hayoun, S., Granot, A., Shima, T.: Path following using trajectory shaping guidance. J. Guid. Control Dynam. 38, 106\u2013116 (2015). \nhttps:\/\/doi.org\/10.2514\/1.G000300","journal-title":"J. Guid. Control Dynam."},{"key":"1085_CR68","doi-asserted-by":"crossref","unstructured":"Roza, A., Maggiore, M.: Path following controller for a quadrotor helicopter. In: 2012 American Control Conference (ACC), pp. 4655\u20134660 (2012)","DOI":"10.1109\/ACC.2012.6315061"},{"key":"1085_CR69","doi-asserted-by":"publisher","unstructured":"Rucco, A., Aguiar, A.P., Hauser, J.: Trajectory optimization for constrained UAVs: a virtual target vehicle approach. In: 2015 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 236\u2013245. \nhttps:\/\/doi.org\/10.1109\/ICUAS.2015.7152296\n\n (2015)","DOI":"10.1109\/ICUAS.2015.7152296"},{"key":"1085_CR70","doi-asserted-by":"publisher","first-page":"623","DOI":"10.1007\/978-3-319-27146-0_48","volume-title":"A Predictive Path-Following Approach for Fixed-Wing Unmanned Aerial Vehicles in Presence of Wind Disturbances, vol. 427","author":"A Rucco","year":"2016","unstructured":"Rucco, A., Aguiar, A.P., Pereira, F.L., de Sousa, J.B.: A Predictive Path-Following Approach for Fixed-Wing Unmanned Aerial Vehicles in Presence of Wind Disturbances, vol. 427, pp. 623\u2013634. Springer, Cham (2016). \nhttps:\/\/doi.org\/10.1007\/978-3-319-27146-0_48"},{"issue":"5","key":"1085_CR71","doi-asserted-by":"publisher","first-page":"1092","DOI":"10.2514\/1.19101","volume":"29","author":"R Rysdyk","year":"2006","unstructured":"Rysdyk, R.: UAV path following for target observation in wind. J. Guid. Control Dynam. 29(5), 1092\u20131100 (2006). \nhttps:\/\/doi.org\/10.2514\/1.19101","journal-title":"J. Guid. Control Dynam."},{"issue":"4","key":"1085_CR72","doi-asserted-by":"publisher","first-page":"457","DOI":"10.1177\/0142331214543093","volume":"37","author":"MZ Shah","year":"2015","unstructured":"Shah, M.Z., Samar, R., Bhatti, A.I.: Lateral track control of UAVs using the sliding mode approach: from design to flight testing. Trans. Inst. Meas. Control. 37(4), 457\u2013474 (2015). \nhttps:\/\/doi.org\/10.1177\/0142331214543093","journal-title":"Trans. Inst. Meas. Control."},{"key":"1085_CR73","doi-asserted-by":"publisher","unstructured":"Shen, H., Guo, C.: Path-following control of underactuated ships using actor-critic reinforcement learning with Mlp neural networks. In: 2016 Sixth International Conference on Information Science and Technology (ICIST), pp. 317\u2013321. \nhttps:\/\/doi.org\/10.1109\/ICIST.2016.7483431\n\n (2016)","DOI":"10.1109\/ICIST.2016.7483431"},{"key":"1085_CR74","doi-asserted-by":"crossref","unstructured":"Singh, S., Padhi, R.: Automatic path planning and control design for autonomous landing of UAVs using dynamic inversion. In: 2009 American Control Conference, Vols 1\u20139, Proceedings of the American Control Conference, pp. 2409\u20132414 (2009)","DOI":"10.1109\/ACC.2009.5160444"},{"issue":"3","key":"1085_CR75","doi-asserted-by":"publisher","first-page":"213","DOI":"10.1016\/0167-6911(89)90052-2","volume":"12","author":"ED Sontag","year":"1989","unstructured":"Sontag, E.D., Sussmann, H.J.: Further comments on the stabilizability of the angular velocity of a rigid body. Syst. Control Lett. 12(3), 213\u2013217 (1989)","journal-title":"Syst. Control Lett."},{"issue":"4","key":"1085_CR76","doi-asserted-by":"publisher","first-page":"3852","DOI":"10.1109\/LRA.2018.2856922","volume":"3","author":"S Stev\u0161i\u0107","year":"2018","unstructured":"Stev\u0161i\u0107, S., N\u00e4geli, T., Alonso-Mora, J., Hilliges, O.: Sample efficient learning of path following and obstacle avoidance behavior for quadrotors. IEEE Robotics and Automation Letters 3(4), 3852\u20133859 (2018). \nhttps:\/\/doi.org\/10.1109\/LRA.2018.2856922","journal-title":"IEEE Robotics and Automation Letters"},{"key":"1085_CR77","doi-asserted-by":"crossref","unstructured":"Su, S.: Path following control of non-minimum phase VTOL aircraft via minimum distance projection method. In: 26th Chinese Control and Decision Conference (2014 CCDC), Chinese Control and Decision Conference, pp. 708\u2013712 (2014)","DOI":"10.1109\/CCDC.2014.6852257"},{"issue":"1","key":"1085_CR78","doi-asserted-by":"publisher","first-page":"42","DOI":"10.1109\/MCS.2013.2287568","volume":"34","author":"PB Sujit","year":"2014","unstructured":"Sujit, P.B., Saripalli, S., Sousa, J.B.: Unmanned aerial vehicle path following: a survey and analysis of algorithms for fixed-wing unmanned aerial vehicless. IEEE Control Systems 34(1), 42\u201359 (2014). \nhttps:\/\/doi.org\/10.1109\/MCS.2013.2287568","journal-title":"IEEE Control Systems"},{"key":"1085_CR79","doi-asserted-by":"crossref","unstructured":"Valencia, D.R., Kim, D.: Trajectory tracking control for multiple quadrotors based on a neurobiological-inspired system. 2019 Third IEEE International Conference on Robotic Computing (IRC) pp. 465\u2013470 (2019)","DOI":"10.1109\/IRC.2019.00098"},{"issue":"4","key":"1085_CR80","doi-asserted-by":"publisher","first-page":"980","DOI":"10.1109\/TRO.2014.2305493","volume":"30","author":"W Van Loock","year":"2014","unstructured":"Van Loock, W., Pipeleers, G., Diehl, M., De Schutter, J., Swevers, J.: Optimal path following for differentially flat robotic systems through a geometric problem formulation. IEEE Trans. Robot. 30(4), 980\u2013985 (2014). \nhttps:\/\/doi.org\/10.1109\/TRO.2014.2305493","journal-title":"IEEE Trans. Robot."},{"issue":"2","key":"1085_CR81","doi-asserted-by":"publisher","first-page":"315","DOI":"10.1007\/s10846-016-0333-4","volume":"83","author":"C Wang","year":"2016","unstructured":"Wang, C., Song, B., Huang, P., Tang, C.: Trajectory tracking control for quadrotor robot subject to payload variation and wind gust disturbance. Journal of Intelligent Robotic & Systems 83(2), 315\u2013333 (2016). \nhttps:\/\/doi.org\/10.1007\/s10846-016-0333-4","journal-title":"Journal of Intelligent Robotic & Systems"},{"issue":"17","key":"1085_CR82","doi-asserted-by":"publisher","first-page":"2696","DOI":"10.1049\/iet-cta.2012.0270","volume":"6","author":"T Wang","year":"2012","unstructured":"Wang, T., Chen, Y., Liang, J., Wang, C., Zhang, Y.: Combined of vector field and linear quadratic Gaussian for the path following of a small unmanned helicopter. IET Control Theory Appl. 6(17), 2696\u20132703 (2012). \nhttps:\/\/doi.org\/10.1049\/iet-cta.2012.0270","journal-title":"IET Control Theory Appl."},{"issue":"1","key":"1085_CR83","doi-asserted-by":"publisher","first-page":"302","DOI":"10.1007\/s11424-018-8006-y","volume":"31","author":"Y Wang","year":"2018","unstructured":"Wang, Y., Wang, X., Zhao, S., Shen, L.: Vector field based sliding mode control of curved path following for miniature unmanned aerial vehicles in winds. J. Syst. Sci. Complex. 31(1), 302\u2013324 (2018). \nhttps:\/\/doi.org\/10.1007\/s11424-018-8006-y","journal-title":"J. Syst. Sci. Complex."},{"key":"1085_CR84","doi-asserted-by":"crossref","unstructured":"Yamasaki, T., Balakrishnan, S.N., Takano, H.: Integrated guidance and autopilot for a path-following UAV via high-order sliding modes. In: 2012 American Control Conference (ACC), Proceedings of the American Control Conference, pp. 143\u2013148 (2012)","DOI":"10.1109\/ACC.2012.6315053"},{"issue":"18","key":"1085_CR85","doi-asserted-by":"publisher","first-page":"3714","DOI":"10.1002\/rnc.3290","volume":"25","author":"B Zhao","year":"2015","unstructured":"Zhao, B., Xian, B., Zhang, Y., Zhang, X.: Nonlinear robust sliding mode control of a quadrotor unmanned aerial vehicle based on immersion and invariance method. Int. J. Robust Nonlinear Control 25(18), 3714\u20133731 (2015). \nhttps:\/\/doi.org\/10.1002\/rnc.3290","journal-title":"Int. J. Robust Nonlinear Control"},{"key":"1085_CR86","doi-asserted-by":"publisher","unstructured":"Zhaowei, M., Tianjiang, H., Lincheng, S., Weiwei, K., Boxin, Z., Kaidi, Y.: An iterative learning controller for quadrotor UAV path following at a constant altitude. In: 2015 34th Chinese Control Conference (CCC), pp. 4406\u20134411. \nhttps:\/\/doi.org\/10.1109\/ChiCC.2015.7260322\n\n (2015)","DOI":"10.1109\/ChiCC.2015.7260322"},{"key":"1085_CR87","doi-asserted-by":"publisher","unstructured":"Zhou, B., Satyavada, H., Baldi, S.: Adaptive path following for unmanned aerial vehicles in time-varying unknown wind environments. In: 2017 American Control Conference (ACC), pp. 1127\u20131132. \nhttps:\/\/doi.org\/10.23919\/ACC.2017.7963104\n\n (2017)","DOI":"10.23919\/ACC.2017.7963104"},{"key":"1085_CR88","doi-asserted-by":"crossref","unstructured":"Zhou, D., Schwager, M.: Vector field following for quadrotors using differential flatness. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 6567\u20136572 (2014)","DOI":"10.1109\/ICRA.2014.6907828"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-019-01085-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-019-01085-z\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-019-01085-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,9,3]],"date-time":"2020-09-03T23:09:07Z","timestamp":1599174547000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-019-01085-z"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,9,5]]},"references-count":88,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2020,5]]}},"alternative-id":["1085"],"URL":"https:\/\/doi.org\/10.1007\/s10846-019-01085-z","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,9,5]]},"assertion":[{"value":"9 May 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"22 August 2019","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"5 September 2019","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Compliance with Ethical Standards"}},{"value":"The authors declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Conflict of interests"}}]}}