# Flatness-based finite-time leader–follower formation control of multiple quadrotors with external disturbances

> Research article (Aerospace Science and Technology, 2019) · cited 53× · AI/ML

**Wikidata**: [openalex:W2947730205](https://www.wikidata.org/wiki/openalex:W2947730205)  
**Source**: https://4ort.xyz/entity/flatness-based-finite-time-leaderfollower-formation-control-of-multiple-quadrotors-with-external-disturbances