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In the presented leader\u2013follower formation control schemes, each helicopter only needs to receive motion information from at most two neighboring helicopters. A nonlinear six-degree-of-freedom dynamic model has been used for each helicopter. Four control inputs, the main and the tail rotor thrusts, and the roll and pitch moments, are assumed. Parameter uncertainty in the dynamic model and wind disturbance are considered in designing the controllers. The effectiveness and robustness of these control laws in the presence of parameter uncertainty in the dynamic model and wind disturbances are demonstrated by computer simulations.<\/jats:p>","DOI":"10.1017\/s0263574707003670","type":"journal-article","created":{"date-parts":[[2007,8,22]],"date-time":"2007-08-22T08:01:47Z","timestamp":1187769707000},"page":"143-156","source":"Crossref","is-referenced-by-count":23,"title":["Full formation control for autonomous helicopter groups"],"prefix":"10.1017","volume":"26","author":[{"given":"Farbod","family":"Fahimi","sequence":"first","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2008,3,1]]},"reference":[{"key":"S0263574707003670_ref25","volume-title":"Applied Nonlinear Control","author":"Slotine","year":"1991"},{"key":"S0263574707003670_ref20","doi-asserted-by":"crossref","unstructured":"20. Eklund J. M. , Sprinkle J. and Sastry S. , \u201cImplementing and Testing a Nonlinear Model Predictive Tracking Controller for Aerial Pursuit\/Evasion Games on a Fixed Wing Aircraft,\u201d Proceedings of the American Control Conference, Portland, OR (2005) 3, pp. 1509\u20131514.","DOI":"10.1109\/ACC.2005.1470179"},{"key":"S0263574707003670_ref18","unstructured":"18. Beard R. W. and Hadaegh F. Y. , \u201cConstellation Templates: An Approach to Autonomous Formation Flying,\u201d Proceedings of the World Automation Congress, Anchorage, AK, (May 1998) pp. 177.1\u2013177.6."},{"key":"S0263574707003670_ref22","doi-asserted-by":"crossref","unstructured":"22. Zelinski S. , Koo T. 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McDowell P. , Chen J. and Bourgeois B. , \u201cUUV Teams, Control From a Biological Perspective,\u201d Proceedings of the IEEE Oceans Conference Record, Mississippi (2002) 1, pp. 331\u2013337.","DOI":"10.1109\/OCEANS.2002.1193293"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574707003670","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,2]],"date-time":"2019-05-02T10:52:50Z","timestamp":1556794370000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574707003670\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2008,3]]},"references-count":26,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2008,3]]}},"alternative-id":["S0263574707003670"],"URL":"https:\/\/doi.org\/10.1017\/s0263574707003670","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2008,3]]}}}