{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,3]],"date-time":"2026-06-03T19:16:01Z","timestamp":1780514161076,"version":"3.54.1"},"reference-count":46,"publisher":"MDPI AG","issue":"24","license":[{"start":{"date-parts":[[2019,12,12]],"date-time":"2019-12-12T00:00:00Z","timestamp":1576108800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This article presents the design and implementation of an event-triggered control approach, applied to the leader-following consensus and formation of a group of autonomous micro-aircraft with capabilities of vertical take-off and landing (VTOL-UAVs). The control strategy is based on an inner\u2013outer loop control approach. The inner control law stabilizes the attitude and position of one agent, whereas the outer control follows a virtual leader to achieve position consensus cooperatively through an event-triggered policy. The communication topology uses undirected and connected graphs. With such an event-triggered control, the closed-loop trajectories converge to a compact sphere, centered in the origin of the error space. Furthermore, the minimal inter-sampling time is proven to be below bounded avoiding the Zeno behavior. The formation problem addresses the group of agents to fly in a given shape configuration. The simulation and experimental results highlight the performance of the proposed control strategy.<\/jats:p>","DOI":"10.3390\/s19245498","type":"journal-article","created":{"date-parts":[[2019,12,12]],"date-time":"2019-12-12T11:06:41Z","timestamp":1576148801000},"page":"5498","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":25,"title":["Leader-Following Consensus and Formation Control of VTOL-UAVs with Event-Triggered Communications"],"prefix":"10.3390","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4239-6149","authenticated-orcid":false,"given":"J. Fermi","family":"Guerrero-Castellanos","sequence":"first","affiliation":[{"name":"Facultad de Ciencias de la Electr\u00f3nica, Benem\u00e9rita Universidad Aut\u00f3noma de Puebla (BUAP), Cuidad Universitaria, Puebla 72570, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7112-7573","authenticated-orcid":false,"given":"Argel","family":"Vega-Alonzo","sequence":"additional","affiliation":[{"name":"Facultad de Ciencias de la Electr\u00f3nica, Benem\u00e9rita Universidad Aut\u00f3noma de Puebla (BUAP), Cuidad Universitaria, Puebla 72570, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1529-098X","authenticated-orcid":false,"given":"Sylvain","family":"Durand","sequence":"additional","affiliation":[{"name":"ICube Laboratory, CNRS, INSA Strasbourg, Strasbourg University, 67000 Strasbourg, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5825-9758","authenticated-orcid":false,"given":"Nicolas","family":"Marchand","sequence":"additional","affiliation":[{"name":"GIPSA-Lab, Grenoble INP, CNRS, Universit\u00e9 Grenoble Alpes, 38000 Grenoble, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2931-8368","authenticated-orcid":false,"given":"Victor R.","family":"Gonzalez-Diaz","sequence":"additional","affiliation":[{"name":"Facultad de Ciencias de la Electr\u00f3nica, Benem\u00e9rita Universidad Aut\u00f3noma de Puebla (BUAP), Cuidad Universitaria, Puebla 72570, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Josefina","family":"Casta\u00f1eda-Camacho","sequence":"additional","affiliation":[{"name":"Facultad de Ciencias de la Electr\u00f3nica, Benem\u00e9rita Universidad Aut\u00f3noma de Puebla (BUAP), Cuidad Universitaria, Puebla 72570, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"W. Fermin","family":"Guerrero-S\u00e1nchez","sequence":"additional","affiliation":[{"name":"Facultad de Ciencias de la Electr\u00f3nica, Benem\u00e9rita Universidad Aut\u00f3noma de Puebla (BUAP), Cuidad Universitaria, Puebla 72570, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2019,12,12]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Guerrero-Castellanos, J.F., Vega-Alonzo, A., Marchand, N., Durand, S., Linares-Flores, J., and Mino-Aguilar, G. (2017, January 24\u201326). Real-time event-based formation control of a group of VTOL-UAVs. Proceedings of the 2017 3rd International Conference on Event-Based Control, Communication and Signal Processing (EBCCSP), Funchal, Portugal.","DOI":"10.1109\/EBCCSP.2017.8022817"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Vega-Alonzo, A., Guerrero-Castellanos, J.F., Marchand, N., Durand, S., Mino-Aguilar, G., and Gonzalez-D\u00edaz, V.R. 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