{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,12]],"date-time":"2026-06-12T14:10:46Z","timestamp":1781273446094,"version":"3.54.1"},"reference-count":27,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2021,2,7]],"date-time":"2021-02-07T00:00:00Z","timestamp":1612656000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,2,7]],"date-time":"2021-02-07T00:00:00Z","timestamp":1612656000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Sci. China Inf. Sci."],"published-print":{"date-parts":[[2021,3]]},"DOI":"10.1007\/s11432-019-2770-8","type":"journal-article","created":{"date-parts":[[2021,2,14]],"date-time":"2021-02-14T08:30:19Z","timestamp":1613291419000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Distributed time-varying formation control with uncertainties based on an event-triggered mechanism"],"prefix":"10.1007","volume":"64","author":[{"given":"Xiaoduo","family":"Li","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yumeng","family":"Bai","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiwang","family":"Dong","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qingdong","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhang","family":"Ren","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2021,2,7]]},"reference":[{"key":"2770_CR1","doi-asserted-by":"publisher","first-page":"340","DOI":"10.1109\/TCST.2014.2314460","volume":"23","author":"X W Dong","year":"2015","unstructured":"Dong X W, Yu B C, Shi Z Y, et al. Time-varying formation control for unmanned aerial vehicles: theories and applications. IEEE Trans Contr Syst Technol, 2015, 23: 340\u2013348","journal-title":"IEEE Trans Contr Syst Technol"},{"key":"2770_CR2","doi-asserted-by":"publisher","first-page":"5004","DOI":"10.1109\/TIE.2016.2589921","volume":"64","author":"H Li","year":"2017","unstructured":"Li H, Xie P, Yan W. Receding horizon formation tracking control of constrained underactuated autonomous underwater vehicles. IEEE Trans Ind Electron, 2017, 64: 5004\u20135013","journal-title":"IEEE Trans Ind Electron"},{"key":"2770_CR3","doi-asserted-by":"publisher","first-page":"3248","DOI":"10.1109\/TAC.2013.2263653","volume":"58","author":"C Wang","year":"2013","unstructured":"Wang C, Xie G M, Cao M. Forming circle formations of anonymous mobile agents with order preservation. IEEE Trans Automat Contr, 2013, 58: 3248\u20133254","journal-title":"IEEE Trans Automat Contr"},{"key":"2770_CR4","doi-asserted-by":"publisher","first-page":"505","DOI":"10.1049\/iet-cta:20050401","volume":"1","author":"W Ren","year":"2007","unstructured":"Ren W. Consensus strategies for cooperative control of vehicle formations. IET Control Theor Appl, 2007, 1: 505\u2013512","journal-title":"IET Control Theor Appl"},{"key":"2770_CR5","doi-asserted-by":"publisher","first-page":"1269","DOI":"10.1109\/TAC.2015.2454711","volume":"61","author":"Z Y Lin","year":"2016","unstructured":"Lin Z Y, Wang L L, Han Z M, et al. A graph laplacian approach to coordinate-free formation stabilization for directed networks. IEEE Trans Automat Contr, 2016, 61: 1269\u20131280","journal-title":"IEEE Trans Automat Contr"},{"key":"2770_CR6","doi-asserted-by":"publisher","first-page":"47","DOI":"10.1016\/j.automatica.2016.06.024","volume":"73","author":"X W Dong","year":"2016","unstructured":"Dong X W, Hu G Q. Time-varying formation control for general linear multi-agent systems with switching directed topologies. Automatica, 2016, 73: 47\u201355","journal-title":"Automatica"},{"key":"2770_CR7","doi-asserted-by":"publisher","first-page":"4140","DOI":"10.1109\/TAC.2018.2798805","volume":"63","author":"S Y Zhao","year":"2018","unstructured":"Zhao S Y. Affine formation maneuver control of multiagent systems. IEEE Trans Automat Contr, 2018, 63: 4140\u20134155","journal-title":"IEEE Trans Automat Contr"},{"key":"2770_CR8","doi-asserted-by":"publisher","first-page":"1318","DOI":"10.1016\/j.automatica.2007.01.004","volume":"43","author":"M Porfiri","year":"2007","unstructured":"Porfiri M, Roberson D G, Stilwell D J. Tracking and formation control of multiple autonomous agents: a two-level consensus approach. Automatica, 2007, 43: 1318\u20131328","journal-title":"Automatica"},{"key":"2770_CR9","doi-asserted-by":"publisher","first-page":"13","DOI":"10.1007\/s11424-012-0108-3","volume":"25","author":"C Q Ma","year":"2012","unstructured":"Ma C Q, Zhang J F. On formability of linear continuous-time multi-agent systems. J Syst Sci Complex, 2012, 25: 13\u201329","journal-title":"J Syst Sci Complex"},{"key":"2770_CR10","doi-asserted-by":"publisher","first-page":"232","DOI":"10.1109\/TCNS.2014.2337972","volume":"1","author":"X W Dong","year":"2014","unstructured":"Dong X W, Xi J X, Lu G, et al. Formation control for high-order linear time-invariant multiagent systems with time delays. IEEE Trans Control Netw Syst, 2014, 1: 232\u2013240","journal-title":"IEEE Trans Control Netw Syst"},{"key":"2770_CR11","doi-asserted-by":"publisher","first-page":"36","DOI":"10.1016\/j.ins.2014.11.047","volume":"298","author":"X W Dong","year":"2015","unstructured":"Dong X W, Shi Z Y, Lu G, et al. Time-varying output formation control for high-order linear time-invariant swarm systems. Inf Sci, 2015, 298: 36\u201352","journal-title":"Inf Sci"},{"key":"2770_CR12","doi-asserted-by":"publisher","first-page":"236","DOI":"10.1109\/TCNS.2015.2489358","volume":"4","author":"X W Dong","year":"2017","unstructured":"Dong X W, Hu G Q. Time-varying output formation for linear multiagent systems via dynamic output feedback control. IEEE Trans Control Netw Syst, 2017, 4: 236\u2013245","journal-title":"IEEE Trans Control Netw Syst"},{"key":"2770_CR13","doi-asserted-by":"publisher","first-page":"2290","DOI":"10.1016\/j.jfranklin.2016.03.016","volume":"353","author":"R Wang","year":"2016","unstructured":"Wang R, Dong X W, Li Q D, et al. Distributed adaptive time-varying formation for multi-agent systems with general highorder linear time-invariant dynamics. J Franklin Inst, 2016, 353: 2290\u20132304","journal-title":"J Franklin Inst"},{"key":"2770_CR14","doi-asserted-by":"publisher","first-page":"070202","DOI":"10.1007\/s11432-016-9125-2","volume":"60","author":"C Y Wang","year":"2017","unstructured":"Wang C Y, Zuo Z Y, Gong Q H, et al. Formation control with disturbance rejection for a class of Lipschitz nonlinear systems. Sci China Inf Sci, 2017, 60: 070202","journal-title":"Sci China Inf Sci"},{"key":"2770_CR15","doi-asserted-by":"publisher","first-page":"129201","DOI":"10.1007\/s11432-018-9510-2","volume":"61","author":"W Zhu","year":"2018","unstructured":"Zhu W, Zhou Q H, Wang D D, et al. Fully distributed consensus of second-order multi-agent systems using adaptive event-based control. Sci China Inf Sci, 2018, 61: 129201","journal-title":"Sci China Inf Sci"},{"key":"2770_CR16","first-page":"010202","volume":"59","author":"J Chen","year":"2016","unstructured":"Chen J, Gan M G, Huang J, et al. Formation control of multiple Euler-Lagrange systems via null-space-based behavioral control. Sci China Inf Sci, 2016, 59: 010202","journal-title":"Sci China Inf Sci"},{"key":"2770_CR17","doi-asserted-by":"publisher","first-page":"192205","DOI":"10.1007\/s11432-018-9759-9","volume":"62","author":"G X Wen","year":"2019","unstructured":"Wen G X, Chen C L P, Dou H, et al. Formation control with obstacle avoidance of second-order multi-agent systems under directed communication topology. Sci China Inf Sci, 2019, 62: 192205","journal-title":"Sci China Inf Sci"},{"key":"2770_CR18","unstructured":"Tang T, Liu Z X, Chen Z Q. Event-triggered formation control of multi-agent systems. In: Proceedings of the 30th Chinese Control Conference, 2011. 4783\u20134786"},{"key":"2770_CR19","doi-asserted-by":"publisher","first-page":"8118","DOI":"10.1109\/TIE.2017.2701778","volume":"64","author":"X Ge","year":"2017","unstructured":"Ge X, Han Q. Distributed formation control of networked multi-agent systems using a dynamic event-triggered communication mechanism. IEEE Trans Ind Electron, 2017, 64: 8118\u20138127","journal-title":"IEEE Trans Ind Electron"},{"key":"2770_CR20","doi-asserted-by":"publisher","first-page":"10179","DOI":"10.1016\/j.jfranklin.2018.01.025","volume":"356","author":"X D Li","year":"2019","unstructured":"Li X D, Dong X, Li Q D, et al. Event-triggered time-varying formation control for general linear multi-agent systems. J Franklin Inst, 2019, 356: 10179\u201310195","journal-title":"J Franklin Inst"},{"key":"2770_CR21","doi-asserted-by":"publisher","unstructured":"Zhu W, Cao W, Jiang Z P. Distributed event-triggered formation control of multiagent systems via complex-valued Laplacian. IEEE Trans Cybern, 2019. doi: https:\/\/doi.org\/10.1109\/TCYB.2019.2908190","DOI":"10.1109\/TCYB.2019.2908190"},{"key":"2770_CR22","doi-asserted-by":"crossref","first-page":"333","DOI":"10.1016\/j.amc.2019.04.066","volume":"359","author":"J H Wang","year":"2019","unstructured":"Wang J H, Xu Y L, Xu Y, et al. Time-varying formation for high-order multi-agent systems with external disturbances by event-triggered integral sliding mode control. Appl Math Comput, 2019, 359: 333\u2013343","journal-title":"Appl Math Comput"},{"key":"2770_CR23","doi-asserted-by":"publisher","first-page":"222","DOI":"10.1049\/iet-cta.2018.5630","volume":"13","author":"J H Wang","year":"2019","unstructured":"Wang J H, Zhang X, Xu Y, et al. Distributed adaptive formation control for non-identical non-linear multi-agents systems based on sliding mode. IET Control Theory Appl, 2019, 13: 222\u2013229","journal-title":"IET Control Theory Appl"},{"key":"2770_CR24","doi-asserted-by":"publisher","first-page":"592","DOI":"10.1016\/j.automatica.2012.11.031","volume":"49","author":"T F Liu","year":"2013","unstructured":"Liu T F, Jiang Z P. Distributed formation control of nonholonomic mobile robots without global position measurements. Automatica, 2013, 49: 592\u2013600","journal-title":"Automatica"},{"key":"2770_CR25","doi-asserted-by":"publisher","first-page":"1439","DOI":"10.1109\/TAC.2014.2304175","volume":"59","author":"P Wang","year":"2014","unstructured":"Wang P, Ding B C. Distributed RHC for tracking and formation of nonholonomic multi-vehicle systems. IEEE Trans Automat Contr, 2014, 59: 1439\u20131453","journal-title":"IEEE Trans Automat Contr"},{"key":"2770_CR26","doi-asserted-by":"publisher","first-page":"380","DOI":"10.1016\/j.automatica.2016.09.011","volume":"77","author":"S J Yoo","year":"2017","unstructured":"Yoo S J, Kim T H. Predesignated fault-tolerant formation tracking quality for networked uncertain nonholonomic mobile robots in the presence of multiple faults. Automatica, 2017, 77: 380\u2013387","journal-title":"Automatica"},{"key":"2770_CR27","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4613-0163-9","volume-title":"Algebraic Graph Theory","author":"C D Godsil","year":"2001","unstructured":"Godsil C D, Royle G. Algebraic Graph Theory. New York: Springer, 2001"}],"container-title":["Science China Information Sciences"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11432-019-2770-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11432-019-2770-8\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11432-019-2770-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,30]],"date-time":"2023-10-30T07:51:00Z","timestamp":1698652260000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11432-019-2770-8"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,2,7]]},"references-count":27,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2021,3]]}},"alternative-id":["2770"],"URL":"https:\/\/doi.org\/10.1007\/s11432-019-2770-8","relation":{},"ISSN":["1674-733X","1869-1919"],"issn-type":[{"value":"1674-733X","type":"print"},{"value":"1869-1919","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,2,7]]},"assertion":[{"value":"1 August 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"17 November 2019","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"26 December 2019","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"7 February 2021","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}],"article-number":"132204"}}