# Disturbance observer-based backstepping formation control of multiple quadrotors with asymmetric output error constraints

> Research article (Applied Mathematics and Computation, 2021) · cited 35× · AI/ML

**Wikidata**: [openalex:W3206327412](https://www.wikidata.org/wiki/openalex:W3206327412)  
**Source**: https://4ort.xyz/entity/disturbance-observer-based-backstepping-formation-control-of-multiple-quadrotors-with-asymmetric-output-error-constraint