{"id":"https://openalex.org/W2938642016","doi":"https://doi.org/10.31185/ejuow.vol4.iss2.44","title":"An Efficient Approach for Modeling and Control of a Quadrotor","display_name":"An Efficient Approach for Modeling and Control of a Quadrotor","publication_year":2016,"publication_date":"2016-11-02","ids":{"openalex":"https://openalex.org/W2938642016","doi":"https://doi.org/10.31185/ejuow.vol4.iss2.44","mag":"2938642016"},"language":"en","primary_location":{"id":"doi:10.31185/ejuow.vol4.iss2.44","doi":"https://doi.org/10.31185/ejuow.vol4.iss2.44","is_oa":true,"landing_page_url":"https://doi.org/10.31185/ejuow.vol4.iss2.44","pdf_url":null,"source":{"id":"https://openalex.org/S4210231105","display_name":"Wasit Journal of Engineering Sciences","issn_l":"2305-6932","issn":["2305-6932","2663-1970"],"is_oa":true,"is_in_doaj":true,"is_core":false,"listed_in":["doaj"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Wasit Journal of Engineering Sciences","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://doi.org/10.31185/ejuow.vol4.iss2.44","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047303875","display_name":"Ahmed Shany Khusheef","orcid":"https://orcid.org/0000-0003-1701-9149","observed_orcids":["https://orcid.org/0000-0003-1701-9149"]},"institutions":[{"id":"https://openalex.org/I4210115078","display_name":"Middle Technical University","ror":"https://ror.org/02fvkg758","country_code":"IQ","type":"education","lineage":["https://openalex.org/I4210115078"]}],"countries":["IQ"],"is_corresponding":true,"raw_author_name":"Ahmed S. Khusheef","raw_affiliation_strings":["Kut Technical Institution, Middle Technical University, Iraq"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kut Technical Institution, Middle Technical University, Iraq","institution_ids":["https://openalex.org/I4210115078"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5047303875"],"corresponding_institution_ids":["https://openalex.org/I4210115078"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":93},"biblio":{"volume":"4","issue":"2","first_page":"1","last_page":"16"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.8628000020980835,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.8628000020980835,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.07880000025033951,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.021400000900030136,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/quadrotor","display_name":"quadrotor","score":0.9959999918937683},{"id":"https://openalex.org/keywords/attitude-control","display_name":"attitude control","score":0.6230000257492065},{"id":"https://openalex.org/keywords/pid-control","display_name":"PID control","score":0.9490000009536743},{"id":"https://openalex.org/keywords/dynamic-modeling","display_name":"dynamic modeling","score":0.7250000238418579},{"id":"https://openalex.org/keywords/vertical-takeoff-and-landing","display_name":"vertical takeoff and landing","score":0.8339999914169312},{"id":"https://openalex.org/keywords/closed-loop-stability","display_name":"closed-loop stability","score":0.5910000205039978},{"id":"https://openalex.org/keywords/propeller-thrust","display_name":"propeller thrust","score":0.5370000004768372}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7773313522338867},{"id":"https://openalex.org/C80055088","wikidata":"https://www.wikidata.org/wiki/Q205451","display_name":"Propeller","level":2,"score":0.7092950940132141},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.6482876539230347},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.5989004373550415},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.5647713541984558},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.544964075088501},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.5115941166877747},{"id":"https://openalex.org/C177124886","wikidata":"https://www.wikidata.org/wiki/Q1343028","display_name":"Helicopter rotor","level":3,"score":0.49946165084838867},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.49404552578926086},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.48975110054016113},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47983166575431824},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4458249807357788},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4439888596534729},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.41592180728912354},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3932434916496277},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28658634424209595},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.11882692575454712},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08850017189979553},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.31185/ejuow.vol4.iss2.44","doi":"https://doi.org/10.31185/ejuow.vol4.iss2.44","is_oa":true,"landing_page_url":"https://doi.org/10.31185/ejuow.vol4.iss2.44","pdf_url":null,"source":{"id":"https://openalex.org/S4210231105","display_name":"Wasit Journal of Engineering Sciences","issn_l":"2305-6932","issn":["2305-6932","2663-1970"],"is_oa":true,"is_in_doaj":true,"is_core":false,"listed_in":["doaj"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Wasit Journal of Engineering Sciences","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:6f769ae471364c019bae94571b279233","doi":null,"is_oa":false,"landing_page_url":"https://doaj.org/article/6f769ae471364c019bae94571b279233","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Wasit Journal of Engineering Sciences, Vol 4, Iss 2 (2016)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.31185/ejuow.vol4.iss2.44","doi":"https://doi.org/10.31185/ejuow.vol4.iss2.44","is_oa":true,"landing_page_url":"https://doi.org/10.31185/ejuow.vol4.iss2.44","pdf_url":null,"source":{"id":"https://openalex.org/S4210231105","display_name":"Wasit Journal of Engineering Sciences","issn_l":"2305-6932","issn":["2305-6932","2663-1970"],"is_oa":true,"is_in_doaj":true,"is_core":false,"listed_in":["doaj"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Wasit Journal of Engineering Sciences","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2165314520","https://openalex.org/W2379295883","https://openalex.org/W2105388389","https://openalex.org/W2143613953","https://openalex.org/W3046306182","https://openalex.org/W2018309094","https://openalex.org/W1483127312","https://openalex.org/W4368363795","https://openalex.org/W279978262","https://openalex.org/W7120476279"],"abstract_inverted_index":{"A":[0],"quadrotor":[1,65,94,180],"is":[2,66,82,115],"a":[3,25,61,78,119],"four-rotor":[4],"aircraft":[5],"capable":[6],"of":[7,73,136,156,170,184],"vertical":[8],"take-off":[9],"and":[10,15,87,166],"landing,":[11],"hovering,":[12],"forward":[13],"flight,":[14],"having":[16],"great":[17],"maneuverability.":[18],"Its":[19],"platform":[20],"can":[21],"be":[22,140],"made":[23],"in":[24,129],"small":[26],"size":[27],"make":[28],"it":[29],"convenient":[30],"for":[31,37],"indoor":[32],"applications":[33],"as":[34,36,100,102],"well":[35],"outdoor":[38],"uses.":[39],"In":[40,109],"model":[41,135],"there":[42],"are":[43,48],"four":[44],"input":[45],"forces":[46],"that":[47],"essentially":[49],"the":[50,74,93,97,131,154,157,168,171,179,182,185],"thrust":[51],"provided":[52],"by":[53,143],"each":[54,58],"propeller":[55],"attached":[56],"to":[57,84,95,126,164],"motor":[59],"with":[60,153],"fixed":[62],"angle.":[63],"The":[64,133,147,175],"basically":[67],"considered":[68],"an":[69,112],"unstable":[70],"system":[71,81,90],"because":[72],"aerodynamic":[75],"effects;":[76],"consequently,":[77],"close-loop":[79],"control":[80,124,173],"required":[83],"achieve":[85],"stability":[86,128],"autonomy.":[88],"Such":[89],"must":[91],"enable":[92],"reach":[96],"desired":[98],"attitude":[99],"fast":[101],"possible":[103],"without":[104],"any":[105],"steady":[106],"state":[107],"error.":[108],"this":[110,137],"paper,":[111],"optimal":[113],"controller":[114],"designed":[116],"based":[117],"on":[118,178],"Proportional":[120],"Integral":[121],"Derivative":[122],"(PID)":[123],"method":[125],"obtain":[127],"flying":[130],"quadrotor.":[132],"dynamic":[134],"vehicle":[138],"will":[139],"also":[141],"explained":[142],"using":[144],"Euler-Newton":[145],"method.":[146],"mechanical":[148],"design":[149,155],"was":[150,162],"performed":[151],"along":[152],"controlling":[158],"algorithm.":[159],"Matlab":[160],"Simulink":[161],"used":[163],"test":[165],"analyze":[167],"performance":[169],"proposed":[172],"strategy.":[174],"experimental":[176],"results":[177],"demonstrated":[181],"effectiveness":[183],"methodology":[186],"used.":[187]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2019-04-25T00:00:00"}
