{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,5]],"date-time":"2026-03-05T12:08:27Z","timestamp":1772712507835,"version":"3.50.1"},"reference-count":37,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2021,6,18]],"date-time":"2021-06-18T00:00:00Z","timestamp":1623974400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,6,18]],"date-time":"2021-06-18T00:00:00Z","timestamp":1623974400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"crossref","award":["62003118"],"award-info":[{"award-number":["62003118"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2021,7]]},"DOI":"10.1007\/s10846-021-01401-6","type":"journal-article","created":{"date-parts":[[2021,6,18]],"date-time":"2021-06-18T14:02:41Z","timestamp":1624024961000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":24,"title":["Distributed Observer-Based Leader Following Consensus Tracking Protocol for a Swarm of Drones"],"prefix":"10.1007","volume":"102","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0581-7215","authenticated-orcid":false,"given":"Adeel","family":"Zaidi","sequence":"first","affiliation":[]},{"given":"Muhammad","family":"Kazim","sequence":"additional","affiliation":[]},{"given":"Rui","family":"Weng","sequence":"additional","affiliation":[]},{"given":"Dongzhe","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Xu","family":"Zhang","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2021,6,18]]},"reference":[{"key":"1401_CR1","doi-asserted-by":"publisher","unstructured":"Basso, M., P.d Freitas, E.: A uav guidance system using crop row detection and line follower algorithms. J. Intell. Robot. Syst. https:\/\/doi.org\/10.1007\/s10846-019-01006-0w (2019)","DOI":"10.1007\/s10846-019-01006-0w"},{"key":"1401_CR2","volume-title":"Matrix Mathematics: Theory, Facts, and Formulas","author":"DS Bernstein","year":"2011","unstructured":"Bernstein, D.S.: Matrix Mathematics: Theory, Facts, and Formulas, 2nd edn. Princeton University Press, Princeton (2011)","edition":"2nd edn."},{"key":"1401_CR3","doi-asserted-by":"publisher","unstructured":"Bouabdallah, S.: Design and control of quadrotors with application to autonomous flying. Ph.D. thesis, Universit\u00e9 Aboubekr Belkaid, Tlemcen, Alg\u00e9riede nationalit\u00e9 alg\u00e9rienne, Lausanne. https:\/\/doi.org\/10.5075\/epfl-thesis-3727(2007)","DOI":"10.5075\/epfl-thesis-3727"},{"key":"1401_CR4","doi-asserted-by":"publisher","DOI":"10.1137\/1.9781611970777","volume-title":"Linear Matrix Inequalities in System and Control Theory, Studies in Applied Mathematics, vol. 15","author":"S Boyd","year":"1994","unstructured":"Boyd, S., El Ghaoui, L., Feron, E., Balakrishnan, V.: Linear Matrix Inequalities in System and Control Theory, Studies in Applied Mathematics, vol. 15. SIAM, Philadelphia, PA (1994)"},{"issue":"3","key":"1401_CR5","doi-asserted-by":"publisher","first-page":"616","DOI":"10.1016\/j.jde.2007.10.020","volume":"245","author":"P Cannarsa","year":"2008","unstructured":"Cannarsa, P., Castelpietra, M.: Lipschitz continuity and local semiconcavity for exit time problems with state constraints. J. Differ. Equ. 245(3), 616\u2013636 (2008). https:\/\/doi.org\/10.1016\/j.jde.2007.10.020","journal-title":"J. Differ. Equ."},{"issue":"4","key":"1401_CR6","doi-asserted-by":"publisher","first-page":"837","DOI":"10.1109\/TRO.2018.2857475","volume":"34","author":"S Chung","year":"2018","unstructured":"Chung, S., Paranjape, A.A., Dames, P., Shen, S., Kumar, V.: A survey on aerial swarm robotics. IEEE Trans. Robot. 34(4), 837\u2013855 (2018)","journal-title":"IEEE Trans. Robot."},{"key":"1401_CR7","doi-asserted-by":"crossref","unstructured":"Dai, J., Benini, A., Lin, H., Antsaklis, P.J., Rutherford, M.J., Valavanis, K.P.: Learning-based formal synthesis of cooperative multi-agent systems with an application to robotic coordination. In: 2016 24th Mediterranean Conference on Control and Automation (MED), pp 1008\u20131013 (2016)","DOI":"10.1109\/MED.2016.7536071"},{"key":"1401_CR8","doi-asserted-by":"publisher","first-page":"2001","DOI":"10.1007\/978-1-4613-0163-9","volume-title":"Algebraic Graph Theory, vol. 207","author":"C Godsil","year":"2001","unstructured":"Godsil, C., Royle, G.: Algebraic Graph Theory, vol. 207, p 2001. Springer-Verlag Inc., New York (2001). https:\/\/doi.org\/10.1007\/978-1-4613-0163-9"},{"key":"1401_CR9","unstructured":"Hartman, D., Landis, K., Mehrer, M., Moreno, S., Kim, J.: Quadcopter dynamic modeling and simulation (quad-sim). Available at https:\/\/github.com\/dch33\/Quad-Sim"},{"key":"1401_CR10","doi-asserted-by":"publisher","first-page":"71","DOI":"10.1016\/j.sysconle.2014.07.004","volume":"72","author":"J Hu","year":"2014","unstructured":"Hu, J., Cao, J., Yu, J., Hayat, T.: Consensus of nonlinear multi-agent systems with observer-based protocols. Syst. Control Lett. 72, 71\u201379 (2014). https:\/\/doi.org\/10.1016\/j.sysconle.2014.07.004","journal-title":"Syst. Control Lett."},{"key":"1401_CR11","doi-asserted-by":"crossref","unstructured":"Hu, Z., Ma, C., Zhang, L., Halme, A.: Distributed formation control of autonomous underwater vehicles with impulsive information exchanges and disturbances under fixed and switching topologies. In: 2014 IEEE 23rd International Symposium on Industrial Electronics (ISIE), pp 99\u2013104 (2014)","DOI":"10.1109\/ISIE.2014.6864593"},{"key":"1401_CR12","doi-asserted-by":"publisher","first-page":"291","DOI":"10.1016\/j.neucom.2014.06.060","volume":"147","author":"Z Hu","year":"2015","unstructured":"Hu, Z., Ma, C., Zhang, L., Halme, A., Hayat, T., Ahmad, B.: Formation control of impulsive networked autonomous underwater vehicles under fixed and switching topologies. Neurocomputing 147, 291\u2013298 (2015). https:\/\/doi.org\/10.1016\/j.neucom.2014.06.060","journal-title":"Neurocomputing"},{"issue":"6","key":"1401_CR13","doi-asserted-by":"publisher","first-page":"988","DOI":"10.1109\/TAC.2003.812781","volume":"48","author":"A Jadbabaie","year":"2003","unstructured":"Jadbabaie, A., Lin, J., Morse, A.S.: Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Trans. Autom. Control 48(6), 988\u20131001 (2003)","journal-title":"IEEE Trans. Autom. Control"},{"key":"1401_CR14","doi-asserted-by":"publisher","unstructured":"Kashino, Z., Nejat, G., Benhabib, B.: Aerial wilderness search and rescue with ground support. J. Intell. Robot. Syst. https:\/\/doi.org\/10.1007\/s10846-019-01105-y (2019)","DOI":"10.1007\/s10846-019-01105-y"},{"key":"1401_CR15","volume-title":"Nonlinear Systems","author":"HK Khalil","year":"2002","unstructured":"Khalil, H.K.: Nonlinear Systems, 3rd edn. Prentice Hall, Upper Saddle River (2002)","edition":"3rd edn."},{"issue":"3","key":"1401_CR16","doi-asserted-by":"publisher","first-page":"1219","DOI":"10.1109\/TCNS.2017.2696364","volume":"5","author":"HJ LeBlanc","year":"2018","unstructured":"LeBlanc, H.J., Koutsoukos, X.: Resilient first-order consensus and weakly stable, higher order synchronization of continuous-time networked multiagent systems. IEEE Trans. Control Netw. Syst. 5(3), 1219\u20131231 (2018)","journal-title":"IEEE Trans. Control Netw. Syst."},{"key":"1401_CR17","doi-asserted-by":"publisher","first-page":"179","DOI":"10.1016\/j.automatica.2019.03.024","volume":"105","author":"H Liu","year":"2019","unstructured":"Liu, H., Tian, Y., Lewis, F.L., Wan, Y., Valavanis, K.P.: Robust formation tracking control for multiple quadrotors under aggressive maneuvers. Automatica 105, 179\u2013185 (2019). https:\/\/doi.org\/10.1016\/j.automatica.2019.03.024","journal-title":"Automatica"},{"issue":"6","key":"1401_CR18","doi-asserted-by":"publisher","first-page":"2583","DOI":"10.1109\/TAC.2018.2867167","volume":"64","author":"J Liu","year":"2019","unstructured":"Liu, J., Huang, J.: A spectral property of a graph matrix and its application to the leader-following consensus of discrete-time multiagent systems. IEEE Trans. Autom. Control 64(6), 2583\u20132589 (2019)","journal-title":"IEEE Trans. Autom. Control"},{"key":"1401_CR19","doi-asserted-by":"publisher","first-page":"85","DOI":"10.1016\/j.isatra.2018.01.024","volume":"74","author":"X Mao","year":"2018","unstructured":"Mao, X., Zhang, H., Wang, Y.: Flocking of quad-rotor uavs with fuzzy control. ISA Transactions 74, 85\u2013193 (2018). https:\/\/doi.org\/10.1016\/j.isatra.2018.01.024","journal-title":"ISA Transactions"},{"key":"1401_CR20","doi-asserted-by":"publisher","first-page":"545","DOI":"10.1007\/978-3-642-32723-0\u2216_39","volume-title":"Cooperative Grasping and Transport Using Multiple Quadrotors","author":"D Mellinger","year":"2013","unstructured":"Mellinger, D., Shomin, M., Michael, N., Kumar, V.: Cooperative Grasping and Transport Using Multiple Quadrotors, pp 545\u2013558. Springer Berlin Heidelberg, Berlin, Heidelberg (2013). https:\/\/doi.org\/10.1007\/978-3-642-32723-0\u2216_39"},{"issue":"5","key":"1401_CR21","doi-asserted-by":"publisher","first-page":"832","DOI":"10.1002\/rob.21436","volume":"29","author":"N Michael","year":"2012","unstructured":"Michael, N., Shen, S., Mohta, K., Mulgaonkar, Y., Kumar, V., Nagatani, K., Okada, Y., Kiribayashi, S., Otake, K., Yoshida, K., Ohno, K., Takeuchi, E., Tadokoro, S.: Collaborative mapping of an earthquake-damaged building via ground and aerial robots. J. Field Robot. 29(5), 832\u2013841 (2012). https:\/\/doi.org\/10.1002\/rob.21436","journal-title":"J. Field Robot."},{"issue":"11","key":"1401_CR22","doi-asserted-by":"publisher","first-page":"8635","DOI":"10.1109\/TIE.2017.2701775","volume":"64","author":"J Ni","year":"2017","unstructured":"Ni, J., Liu, L., Liu, C., Liu, J.: Fixed-time leader-following consensus for second-order multiagent systems with input delay. IEEE Trans. Ind. Electron. 64(11), 8635\u20138646 (2017)","journal-title":"IEEE Trans. Ind. Electron."},{"key":"1401_CR23","unstructured":"Packard, A., Chen, X.: Linearization - feedback control systems. Available at https:\/\/www.cds.caltech.edu\/~murray\/courses\/cds101\/fa02\/caltech\/pph02-ch19-23.pdf"},{"key":"1401_CR24","unstructured":"Parrot AR., D., Elite edition. Available at https:\/\/www.parrot.com\/global\/drones\/parrot-ardrone-20-elite-edition (2018)"},{"issue":"2","key":"1401_CR25","doi-asserted-by":"publisher","first-page":"498","DOI":"10.1109\/TAC.2017.2722860","volume":"63","author":"A Ponomarev","year":"2018","unstructured":"Ponomarev, A., Chen, Z., Zhang, H.: Discrete-time predictor feedback for consensus of multiagent systems with delays. IEEE Trans. Autom. Control 63(2), 498\u2013504 (2018)","journal-title":"IEEE Trans. Autom. Control"},{"issue":"4","key":"1401_CR26","doi-asserted-by":"publisher","first-page":"894","DOI":"10.1109\/TAC.2008.920232","volume":"53","author":"Z Qu","year":"2008","unstructured":"Qu, Z., Wang, J., Hull, R.A.: Cooperative control of dynamical systems with application to autonomous vehicles. IEEE Trans. Autom. Control 53(4), 894\u2013911 (2008)","journal-title":"IEEE Trans. Autom. Control"},{"issue":"1","key":"1401_CR27","doi-asserted-by":"publisher","first-page":"324","DOI":"10.1109\/TCNS.2018.2817918","volume":"6","author":"MS Radenkovi\u0107","year":"2019","unstructured":"Radenkovi\u0107, M.S., Krsti\u0107, M.: Adaptive leader following in networks of discrete-time dynamical systems: Algorithms and global convergence analysis. IEEE Transactions on Control of Network Systems 6(1), 324\u2013337 (2019)","journal-title":"IEEE Transactions on Control of Network Systems"},{"key":"1401_CR28","doi-asserted-by":"crossref","unstructured":"Rosaldo-Serrano, M.A., Santiaguillo-Salinas, J., Aranda-Bricaire, E.: Observer-based time-varying backstepping control for a quadrotor multi-agent system. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp 1324\u20131332 (2017)","DOI":"10.1109\/ICUAS.2017.7991404"},{"key":"1401_CR29","doi-asserted-by":"publisher","first-page":"1988","DOI":"10.1007\/978-1-4612-0577-7","volume-title":"Mathematical Control Theory: Deterministic Finite-Dimensional Systems","author":"E Sontag","year":"1998","unstructured":"Sontag, E.: Mathematical Control Theory: Deterministic Finite-Dimensional Systems, p 1988. Springer-Verlag, New York (1998)"},{"key":"1401_CR30","doi-asserted-by":"crossref","unstructured":"Srikudkao, B., Khundate, T., So-In, C., Horkaew, P., Phaudphut, C., Rujirakul, K.: Flood warning and management schemes with drone emulator using ultrasonic and image processing. In: Unger, H., Meesad, P., Boonkrong, S. (eds.) Recent Advances in Information and Communication Technology 2015, pp 107\u2013116. Springer International Publishing, Cham (2015)","DOI":"10.1007\/978-3-319-19024-2_11"},{"key":"1401_CR31","doi-asserted-by":"publisher","first-page":"1226","DOI":"10.1103\/PhysRevLett.75.1226","volume":"75","author":"T Vicsek","year":"1995","unstructured":"Vicsek, T., Czir\u00f3k, A., Ben-Jacob, E., Cohen, I., Shochet, O.: Novel type of phase transition in a system of self-driven particles. Phys. Rev. Lett. 75, 1226\u20131229 (1995)","journal-title":"Phys. Rev. Lett."},{"issue":"5","key":"1401_CR32","doi-asserted-by":"publisher","first-page":"869","DOI":"10.1109\/TSMC.2016.2564929","volume":"47","author":"G Wen","year":"2017","unstructured":"Wen, G., Yu, W., Xia, Y., Yu, X., Hu, J.: Distributed tracking of nonlinear multiagent systems under directed switching topology: An observer-based protocol. IEEE Trans. Syst. Man Cybern. Syst. 47(5), 869\u2013881 (2017)","journal-title":"IEEE Trans. Syst. Man Cybern. Syst."},{"issue":"5","key":"1401_CR33","doi-asserted-by":"publisher","first-page":"1068","DOI":"10.1016\/j.automatica.2011.01.081","volume":"47","author":"P Wieland","year":"2011","unstructured":"Wieland, P., Sepulchre, R., Allg\u00f6wer, F.: An internal model principle is necessary and sufficient for linear output synchronization. Automatica 47(5), 1068\u20131074 (2011). https:\/\/doi.org\/10.1016\/j.automatica.2011.01.081","journal-title":"Automatica"},{"issue":"1\u20132","key":"1401_CR34","doi-asserted-by":"publisher","first-page":"337","DOI":"10.1007\/s10846-018-0803-y","volume":"93","author":"C Yuan","year":"2019","unstructured":"Yuan, C., Liu, Z., Zhang, Y.: Learning-based smoke detection for unmanned aerial vehicles applied to forest fire surveillance. J. Intell. Robotics Syst. 93(1\u20132), 337\u2013349 (2019)","journal-title":"J. Intell. Robotics Syst."},{"issue":"10","key":"1401_CR35","doi-asserted-by":"publisher","first-page":"2515","DOI":"10.1016\/j.automatica.2014.08.033","volume":"50","author":"F Zhang","year":"2014","unstructured":"Zhang, F., Trentelman, H.L., Scherpen, J.M.: Fully distributed robust synchronization of networked lur\u2019e systems with incremental nonlinearities. Automatica 50(10), 2515\u20132526 (2014)","journal-title":"Automatica"},{"issue":"16","key":"1401_CR36","doi-asserted-by":"publisher","first-page":"3061","DOI":"10.1002\/rnc.3725","volume":"27","author":"F Zhang","year":"2017","unstructured":"Zhang, F., Trentelman, H.L., Scherpen, J.M.A.: Robust cooperative output regulation of heterogeneous lur\u2019e networks. Int. J. Robust Nonlinear Control 27(16), 3061\u20133078 (2017)","journal-title":"Int. J. Robust Nonlinear Control"},{"key":"1401_CR37","volume-title":"Robust Observer-Based Fault Diagnosis for Nonlinear Systems Using MATLAB\u24c7","author":"J Zhang","year":"2016","unstructured":"Zhang, J., Swain, A., Nguang, S.: Robust Observer-Based Fault Diagnosis for Nonlinear Systems Using MATLAB\u00ae. Springer International Publishing, New York (2016)"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01401-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-021-01401-6\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01401-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,7,8]],"date-time":"2021-07-08T04:17:10Z","timestamp":1625717830000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-021-01401-6"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,6,18]]},"references-count":37,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2021,7]]}},"alternative-id":["1401"],"URL":"https:\/\/doi.org\/10.1007\/s10846-021-01401-6","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,6,18]]},"assertion":[{"value":"1 July 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"23 April 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"18 June 2021","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The Authors declare that there is no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Competing interests"}}],"article-number":"64"}}