{"id":"https://openalex.org/W4400645503","doi":"https://doi.org/10.1109/lra.2024.3428431","title":"Improving the Controller Performance of a Tilt-Rotor Octocopter by Compensating for the Tilt Angle's Dynamics","display_name":"Improving the Controller Performance of a Tilt-Rotor Octocopter by Compensating for the Tilt Angle's Dynamics","publication_year":2024,"publication_date":"2024-07-15","ids":{"openalex":"https://openalex.org/W4400645503","doi":"https://doi.org/10.1109/lra.2024.3428431"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3428431","doi":"https://doi.org/10.1109/lra.2024.3428431","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3428431","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027154608","display_name":"Zijie Qin","orcid":"https://orcid.org/0000-0002-3707-3444","observed_orcids":["https://orcid.org/0000-0002-3707-3444"]},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zijie Qin","raw_affiliation_strings":["School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-3707-3444","affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060928467","display_name":"Jingbo Wei","orcid":"https://orcid.org/0000-0002-0749-7692","observed_orcids":["https://orcid.org/0000-0002-0749-7692"]},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingbo Wei","raw_affiliation_strings":["School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-0749-7692","affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101992677","display_name":"Kun Liu","orcid":"https://orcid.org/0009-0007-4133-2430","observed_orcids":["https://orcid.org/0009-0007-4133-2430"]},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Liu","raw_affiliation_strings":["School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0007-4133-2430","affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057577122","display_name":"Chunqiang Wang","orcid":"https://orcid.org/0000-0002-3941-3721","observed_orcids":["https://orcid.org/0000-0002-3941-3721"]},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunqiang Wang","raw_affiliation_strings":["School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5146687295","display_name":"Xinliang Li","orcid":"https://orcid.org/0009-0007-8904-8666","observed_orcids":["https://orcid.org/0009-0007-8904-8666"]},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinliang Li","raw_affiliation_strings":["School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0007-8904-8666","affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":null,"display_name":"Xiaobin Yu","orcid":"https://orcid.org/0009-0005-9263-408X","observed_orcids":["https://orcid.org/0009-0005-9263-408X"]},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaobin Yu","raw_affiliation_strings":["School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0005-9263-408X","affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":{"value":2495,"currency":"USD","value_usd":2495},"apc_paid":null,"fwci":0.4295,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.49912871,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"9","issue":"12","first_page":"11010","last_page":"11017"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.3921000063419342,"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"}},"topics":[{"id":"https://openalex.org/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.3921000063419342,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.3458999991416931,"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/T12125","display_name":"Aerospace and Aviation Technology","score":0.10989999771118164,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-allocation","display_name":"control allocation","score":0.8059999942779541},{"id":"https://openalex.org/keywords/attitude-control","display_name":"attitude control","score":0.8209999799728394},{"id":"https://openalex.org/keywords/thrust-allocation","display_name":"thrust allocation","score":0.6880000233650208},{"id":"https://openalex.org/keywords/compensator-design","display_name":"compensator design","score":0.6790000200271606},{"id":"https://openalex.org/keywords/quadrotor","display_name":"quadrotor","score":0.6679999828338623}],"concepts":[{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.9073244333267212},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.7094050049781799},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6695250272750854},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5652914643287659},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.43646371364593506},{"id":"https://openalex.org/C3017700718","wikidata":"https://www.wikidata.org/wiki/Q615363","display_name":"Head tilt","level":2,"score":0.410694420337677},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3961566686630249},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3588571548461914},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.2863680124282837},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2554517388343811},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.20685932040214539},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.20176666975021362},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15064337849617004},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11624699831008911},{"id":"https://openalex.org/C46312422","wikidata":"https://www.wikidata.org/wiki/Q11024","display_name":"Communication","level":1,"score":0.07954180240631104},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3428431","doi":"https://doi.org/10.1109/lra.2024.3428431","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3428431","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320336569","display_name":"Shenzhen Science and Technology Innovation Program","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1984724019","https://openalex.org/W1998434453","https://openalex.org/W2123162991","https://openalex.org/W2560414423","https://openalex.org/W2783840519","https://openalex.org/W2912870155","https://openalex.org/W2989899221","https://openalex.org/W2991110944","https://openalex.org/W3091897482","https://openalex.org/W3119076944","https://openalex.org/W3135125952","https://openalex.org/W3174641483","https://openalex.org/W3175451845","https://openalex.org/W3192694561","https://openalex.org/W4205102225","https://openalex.org/W4311715451","https://openalex.org/W4312674190","https://openalex.org/W4318676678","https://openalex.org/W4387092494","https://openalex.org/W4389428401","https://openalex.org/W4391302364"],"related_works":["https://openalex.org/W4387092494","https://openalex.org/W4410410999","https://openalex.org/W4205352698","https://openalex.org/W7213629805","https://openalex.org/W7117063933","https://openalex.org/W3092774441","https://openalex.org/W4406208305","https://openalex.org/W4382936277","https://openalex.org/W4402569718","https://openalex.org/W3018320691"],"abstract_inverted_index":{"This":[0],"letter":[1,60],"presents":[2],"a":[3,9,33,39,89],"novel":[4],"control":[5,19,72,91,95,140],"allocation":[6,73,96,141],"compensator":[7,77,138],"for":[8,23],"tilt-rotor":[10],"octocopter":[11],"using":[12],"passive":[13,34],"hinges,":[14],"aimed":[15],"at":[16],"enhancing":[17,144],"attitude":[18,150],"performance":[20],"by":[21],"accounting":[22],"the":[24,28,59,63,85,94,100,103,107,115,121,125,131,137,145,155],"dynamic":[25],"characteristics":[26],"of":[27,32,124,147,154],"actuators.":[29],"The":[30,152],"introduction":[31],"hinging":[35],"mechanism":[36],"results":[37],"in":[38],"slower":[40],"tilt":[41,101,112,126,132],"angle":[42],"response":[43,118,123,133],"compared":[44],"to":[45,81,93,98,119],"servo-actuated":[46],"systems,":[47],"which,":[48],"if":[49],"overlooked,":[50],"can":[51],"significantly":[52],"degrade":[53],"controller":[54],"performance.":[55],"In":[56],"this":[57],"regard,":[58],"first":[61,86],"models":[62],"arm's":[64],"tilting":[65],"dynamics":[66],"and":[67,134,149,163],"discusses":[68],"its":[69],"impact":[70],"on":[71,110],"errors.":[74],"A":[75],"two-part":[76],"is":[78,158],"then":[79],"introduced":[80],"address":[82],"these":[83],"dynamics:":[84],"part":[87,105],"adds":[88],"simple":[90],"loop":[92],"module":[97],"quicken":[99],"response;":[102],"second":[104],"re-allocates":[106],"thrust":[108],"based":[109],"estimated":[111],"angles,":[113],"leveraging":[114],"motor's":[116],"rapid":[117],"offset":[120],"slow":[122],"angle.":[127],"By":[128],"simultaneously":[129],"accelerating":[130],"reallocating":[135],"thrusts,":[136],"minimizes":[139],"error,":[142],"thereby":[143],"accuracy":[146],"position":[148],"control.":[151],"effectiveness":[153],"proposed":[156],"method":[157],"validated":[159],"through":[160],"both":[161],"simulations":[162],"real":[164],"flight":[165],"experiments.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2024-07-16T00:00:00"}