{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T22:04:23Z","timestamp":1777500263426,"version":"3.51.4"},"reference-count":49,"publisher":"Oxford University Press (OUP)","issue":"4","license":[{"start":{"date-parts":[[2017,6,18]],"date-time":"2017-06-18T00:00:00Z","timestamp":1497744000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/academic.oup.com\/journals\/pages\/open_access\/funder_policies\/chorus\/standard_publication_model"}],"funder":[{"DOI":"10.13039\/100007225","name":"Ministry of Science and Technology","doi-asserted-by":"publisher","award":["2015DFA81640"],"award-info":[{"award-number":["2015DFA81640"]}],"id":[{"id":"10.13039\/100007225","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004750","name":"Aeronautical Science Foundation of China","doi-asserted-by":"publisher","award":["20130179002"],"award-info":[{"award-number":["20130179002"]}],"id":[{"id":"10.13039\/501100004750","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003397","name":"Huazhong University of Science and Technology","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100003397","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2018,12,18]]},"abstract":"<jats:title>Abstract<\/jats:title>\n               <jats:p>This article studies finite-time distributed formation tracking control of a second-order multi-unmanned aerial vehicle (UAV) system. To reduce the burden of the system\u2019s computation and communication, a distributed framework is designed in the control of the formation configuration, in which a time-varying reference trajectory is known by the following UAVs as exogenous input that decides the UAVs moving target. Then, time-triggered and event-triggered consensus control protocols are proposed and theoretically proved to achieve the formation flight in finite time. Finally, a numerical simulation is conducted for the formation tracking control of a typical multi-UAV system to validate the effectiveness of the proposed control protocols.<\/jats:p>","DOI":"10.1093\/imamci\/dnx028","type":"journal-article","created":{"date-parts":[[2017,5,30]],"date-time":"2017-05-30T04:22:17Z","timestamp":1496118137000},"page":"1297-1318","source":"Crossref","is-referenced-by-count":14,"title":["Finite-time distributed formation tracking control of multi-UAVs with a time-varying reference trajectory"],"prefix":"10.1093","volume":"35","author":[{"given":"Wei","family":"Zhao","sequence":"first","affiliation":[{"name":"Department of Aerospace Engineering,School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Renfu","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Aerospace Engineering,School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"},{"name":"Digital Manufacturing Equipment and Technology National Key Laboratory, Huazhong University of Science and Technology, Wuhan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Huaipin","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Automation, Huazhong University of Science and Technology, Wuhan, 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"286","published-online":{"date-parts":[[2017,6,18]]},"reference":[{"key":"2020021309532033900_B1","doi-asserted-by":"crossref","first-page":"2383","DOI":"10.1016\/j.automatica.2011.08.042","article-title":"Formation control of VTOL unmanned aerial vehicles with communication delays.","volume":"47","author":"Abdessameud","year":"2011","journal-title":"Automatica"},{"key":"2020021309532033900_B2","doi-asserted-by":"crossref","first-page":"986","DOI":"10.1109\/ACC.2015.7170862","article-title":"Multi-agent control for centralized air conditioning systems serving multi-zone buildings.","volume-title":"Proceedings of 2015 American Control Conference","author":"Cai","year":"2015"},{"key":"2020021309532033900_B3","doi-asserted-by":"crossref","first-page":"3596","DOI":"10.1109\/TIE.2009.2029585","article-title":"Building-environment control with wireless sensor and actuator networks: centralized versus distributed.","volume":"57","author":"Cao","year":"2010","journal-title":"IEEE Trans. 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