{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,25]],"date-time":"2026-01-25T01:24:29Z","timestamp":1769304269960,"version":"3.49.0"},"reference-count":27,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[2019,10,31]],"date-time":"2019-10-31T00:00:00Z","timestamp":1572480000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["11332001"],"award-info":[{"award-number":["11332001"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Joint Fund of the Ministry of Education of China","award":["6141A020223"],"award-info":[{"award-number":["6141A020223"]}]},{"name":"Research Project Fund","award":["17-163-11-ZT-003-018-01"],"award-info":[{"award-number":["17-163-11-ZT-003-018-01"]}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Transactions of the Institute of Measurement and Control"],"published-print":{"date-parts":[[2020,3]]},"abstract":"<jats:p> In this paper, three fully distributed guidance laws are designed for unmanned aerial vehicles formation flight, which have the following advantages. Adaptive technology in novel guidance laws can adapt to various graphs that only need one spanning tree. Cooperative formation does not need to set the virtual structure of formation in advance, but only needs to adjust the formation parameters in the guidance law to achieve the desired time-varying formation. This paper uses a guidance law perpendicular to the line of sight to make the flight trajectory more straight; hence, enhancing its applicability in real-world scenarios. These new guidance laws also enable group formation transformation and can optimize the unmanned aerial vehicles\u2019 formation without global information to obtain the optimum performance of the formation. The simulation results show the practicability and effectiveness of the new method. <\/jats:p>","DOI":"10.1177\/0142331219880048","type":"journal-article","created":{"date-parts":[[2019,10,31]],"date-time":"2019-10-31T10:02:49Z","timestamp":1572516169000},"page":"965-980","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":5,"title":["Fully distributed guidance laws for unmanned aerial vehicles formation flight"],"prefix":"10.1177","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3773-7121","authenticated-orcid":false,"given":"Xiaoqian","family":"Wei","sequence":"first","affiliation":[{"name":"Science and Technology on Aerospace Intelligent Control Laboratory, The State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, College of Engineering, Peking University, People\u2019s Republic of China"}]},{"given":"Jianying","family":"Yang","sequence":"additional","affiliation":[{"name":"Science and Technology on Aerospace Intelligent Control Laboratory, The State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, College of Engineering, Peking University, People\u2019s Republic of China"}]},{"given":"Xiangru","family":"Fan","sequence":"additional","affiliation":[{"name":"Clarkson University, Potsdam, New York, USA"}]}],"member":"179","published-online":{"date-parts":[[2019,10,31]]},"reference":[{"key":"bibr1-0142331219880048","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511804441"},{"key":"bibr2-0142331219880048","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2012.05.071"},{"key":"bibr3-0142331219880048","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2017.2714688"},{"key":"bibr4-0142331219880048","doi-asserted-by":"publisher","DOI":"10.1080\/00207179.2014.889856"},{"key":"bibr5-0142331219880048","doi-asserted-by":"crossref","first-page":"7","DOI":"10.1016\/j.automatica.2016.06.024","volume":"73","author":"Dong X","year":"2016","journal-title":"Automatica"},{"key":"bibr6-0142331219880048","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2018.2799526"},{"issue":"3","key":"bibr7-0142331219880048","first-page":"1178","volume":"64","author":"Ghapani S","year":"2019","journal-title":"IEEE Trans. on Cybernetics"},{"key":"bibr8-0142331219880048","doi-asserted-by":"publisher","DOI":"10.1080\/00207179.2016.1266518"},{"key":"bibr9-0142331219880048","volume-title":"Nonlinear Systems","author":"Khalil H","year":"2007"},{"key":"bibr10-0142331219880048","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.1847"},{"key":"bibr11-0142331219880048","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2014.2350391"},{"key":"bibr12-0142331219880048","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2015.2477366"},{"key":"bibr13-0142331219880048","doi-asserted-by":"publisher","DOI":"10.1080\/00207179.2018.1471221"},{"key":"bibr14-0142331219880048","doi-asserted-by":"publisher","DOI":"10.1080\/00207179.2016.1172259"},{"key":"bibr15-0142331219880048","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2016.2593899"},{"key":"bibr16-0142331219880048","volume-title":"Applied Nonlinear Control","author":"Slotine JJE","year":"2004"},{"key":"bibr17-0142331219880048","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2017.2691714"},{"key":"bibr18-0142331219880048","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2016.2573584"},{"key":"bibr19-0142331219880048","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2018.2885079"},{"key":"bibr20-0142331219880048","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2015.2465071"},{"key":"bibr21-0142331219880048","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2011.0325"},{"key":"bibr22-0142331219880048","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2009.2031624"},{"key":"bibr23-0142331219880048","doi-asserted-by":"publisher","DOI":"10.1016\/j.sysconle.2012.10.012"},{"key":"bibr24-0142331219880048","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.3486"},{"key":"bibr25-0142331219880048","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2016.09.005"},{"key":"bibr26-0142331219880048","author":"Zhao Y","year":"2018","journal-title":"IEEE Transactions on Cybernetics"},{"key":"bibr27-0142331219880048","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2018.2872534"}],"container-title":["Transactions of the Institute of Measurement and Control"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0142331219880048","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0142331219880048","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0142331219880048","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,28]],"date-time":"2025-02-28T23:31:37Z","timestamp":1740785497000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0142331219880048"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,10,31]]},"references-count":27,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2020,3]]}},"alternative-id":["10.1177\/0142331219880048"],"URL":"https:\/\/doi.org\/10.1177\/0142331219880048","relation":{},"ISSN":["0142-3312","1477-0369"],"issn-type":[{"value":"0142-3312","type":"print"},{"value":"1477-0369","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,10,31]]}}}