{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,3]],"date-time":"2025-11-03T13:38:59Z","timestamp":1762177139514,"version":"3.41.2"},"reference-count":24,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2019,2,28]],"date-time":"2019-02-28T00:00:00Z","timestamp":1551312000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IJICC"],"published-print":{"date-parts":[[2019,2,28]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>The purpose of this paper is to investigate time-optimal control problems for multiple unmanned aerial vehicle (UAV) systems to achieve predefined flying shape.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>Two time-optimal protocols are proposed for the situations with or without human control input, respectively. Then, Pontryagin\u2019s minimum principle approach is applied to deal with the time-optimal control problems for UAV systems, where the cost function, the initial and terminal conditions are given in advance. Moreover, necessary conditions are derived to ensure that the given performance index is optimal.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The effectiveness of the obtained time-optimal control protocols is verified by two contrastive numerical simulation examples. Consequently, the proposed protocols can successfully achieve the prescribed flying shape.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>This paper proposes a solution to solve the time-optimal control problems for multiple UAV systems to achieve predefined flying shape.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ijicc-04-2018-0050","type":"journal-article","created":{"date-parts":[[2019,1,8]],"date-time":"2019-01-08T08:56:11Z","timestamp":1546937771000},"page":"138-152","source":"Crossref","is-referenced-by-count":4,"title":["Time-optimal control of multiple unmanned aerial vehicles with human control 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