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To handle the complexity of switched-trajectory tracking, an adaptive tracking differentiator is presented in an outer loop to arrange transition processes. Fast integral terminal sliding mode control is also used in the outer loop to improve convergence speed and tracking accuracy. The gust winds are estimated and compensated by a nonlinear extended state observer and a nonlinear controller with finite-time convergence in an inner loop, respectively. Convergency analyses are presented with the double-loop tracking control strategy for the switched-trajectory quadrotor. Comparison experiments with existing studies show superior performances of the proposed control method for the quadrotor in air\u2013ground cooperation under gust winds.<\/jats:p>","DOI":"10.1177\/01423312241237665","type":"journal-article","created":{"date-parts":[[2024,4,4]],"date-time":"2024-04-04T06:12:08Z","timestamp":1712211128000},"page":"3129-3145","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Double-loop control in air\u2013ground cooperation for a switched-trajectory quadrotor under gust winds"],"prefix":"10.1177","volume":"46","author":[{"given":"Lei","family":"Cui","sequence":"first","affiliation":[{"name":"Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering, Tianjin University, China"}]},{"given":"Shiqing","family":"Liang","sequence":"additional","affiliation":[{"name":"Tianjin Key Laboratory of Intelligent Unmanned 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