{"id":"https://openalex.org/W4410102408","doi":"https://doi.org/10.1177/17298806251331321","title":"Anti-windup active disturbance rejection control of tiltable-rotors fully-actuated hexarotor","display_name":"Anti-windup active disturbance rejection control of tiltable-rotors fully-actuated hexarotor","publication_year":2025,"publication_date":"2025-05-01","ids":{"openalex":"https://openalex.org/W4410102408","doi":"https://doi.org/10.1177/17298806251331321"},"language":"en","primary_location":{"id":"doi:10.1177/17298806251331321","doi":"https://doi.org/10.1177/17298806251331321","is_oa":true,"landing_page_url":"https://doi.org/10.1177/17298806251331321","pdf_url":null,"source":{"id":"https://openalex.org/S169266912","display_name":"International Journal of Advanced Robotic Systems","issn_l":"1729-8806","issn":["1729-8806","1729-8814"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","dongbi-b","norway-1","poland-40","russia-white-list-2","vabb-shw"],"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Advanced Robotic Systems","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1177/17298806251331321","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5117442655","display_name":"Xuesong Xu","orcid":"https://orcid.org/0009-0003-0992-3733","observed_orcids":["https://orcid.org/0009-0003-0992-3733"]},"institutions":[{"id":"https://openalex.org/I13985625","display_name":"East China Jiaotong University","ror":"https://ror.org/05x2f1m38","country_code":"CN","type":"education","lineage":["https://openalex.org/I13985625"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuesong Xu","raw_affiliation_strings":["East China JiaoTong University","School of Electrical and Automation Engineering, East China JiaoTong University, Nanchang, China"],"raw_orcid":"https://orcid.org/0009-0003-0992-3733","affiliations":[{"raw_affiliation_string":"East China JiaoTong University","institution_ids":["https://openalex.org/I13985625"]},{"raw_affiliation_string":"School of Electrical and Automation Engineering, East China JiaoTong University, Nanchang, China","institution_ids":["https://openalex.org/I13985625"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5117129356","display_name":"Hongyu Fu","orcid":"https://orcid.org/0009-0004-5241-3752","observed_orcids":["https://orcid.org/0009-0004-5241-3752"]},"institutions":[{"id":"https://openalex.org/I13985625","display_name":"East China Jiaotong University","ror":"https://ror.org/05x2f1m38","country_code":"CN","type":"education","lineage":["https://openalex.org/I13985625"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hongyu Fu","raw_affiliation_strings":["East China JiaoTong University","School of Electrical and Automation Engineering, East China JiaoTong University, Nanchang, China"],"raw_orcid":"https://orcid.org/0009-0004-5241-3752","affiliations":[{"raw_affiliation_string":"East China JiaoTong University","institution_ids":["https://openalex.org/I13985625"]},{"raw_affiliation_string":"School of Electrical and Automation Engineering, East China JiaoTong University, Nanchang, China","institution_ids":["https://openalex.org/I13985625"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jianan Zou","orcid":"https://orcid.org/0009-0002-8650-8608","observed_orcids":["https://orcid.org/0009-0002-8650-8608"]},"institutions":[{"id":"https://openalex.org/I13985625","display_name":"East China Jiaotong University","ror":"https://ror.org/05x2f1m38","country_code":"CN","type":"education","lineage":["https://openalex.org/I13985625"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianan Zou","raw_affiliation_strings":["East China JiaoTong University","School of Electrical and Automation Engineering, East China JiaoTong University, Nanchang, China"],"raw_orcid":"https://orcid.org/0009-0002-8650-8608","affiliations":[{"raw_affiliation_string":"East China JiaoTong University","institution_ids":["https://openalex.org/I13985625"]},{"raw_affiliation_string":"School of Electrical and Automation Engineering, East China JiaoTong University, Nanchang, China","institution_ids":["https://openalex.org/I13985625"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5117442656","display_name":"Tianliang Gui","orcid":"https://orcid.org/0009-0003-3139-2166","observed_orcids":["https://orcid.org/0009-0003-3139-2166"]},"institutions":[{"id":"https://openalex.org/I13985625","display_name":"East China Jiaotong University","ror":"https://ror.org/05x2f1m38","country_code":"CN","type":"education","lineage":["https://openalex.org/I13985625"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianliang Gui","raw_affiliation_strings":["East China JiaoTong University","School of Electrical and Automation Engineering, East China JiaoTong University, Nanchang, China"],"raw_orcid":"https://orcid.org/0009-0003-3139-2166","affiliations":[{"raw_affiliation_string":"East China JiaoTong University","institution_ids":["https://openalex.org/I13985625"]},{"raw_affiliation_string":"School of Electrical and Automation Engineering, East China JiaoTong University, Nanchang, China","institution_ids":["https://openalex.org/I13985625"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5117129356"],"corresponding_institution_ids":["https://openalex.org/I13985625"],"apc_list":{"value":2000,"currency":"USD","value_usd":2000},"apc_paid":{"value":2000,"currency":"USD","value_usd":2000},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.06493871,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"22","issue":"3","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.951200008392334,"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":0.951200008392334,"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":0.02160000056028366,"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/T13257","display_name":"Advanced Control and Stabilization in Aerospace Systems","score":0.008299999870359898,"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/anti-windup","display_name":"anti-windup","score":0.9729999899864197},{"id":"https://openalex.org/keywords/active-disturbance-rejection-control","display_name":"active disturbance rejection control","score":0.9520000219345093},{"id":"https://openalex.org/keywords/actuator-saturation","display_name":"actuator saturation","score":0.9940000176429749},{"id":"https://openalex.org/keywords/control-allocation","display_name":"control allocation","score":0.7730000019073486},{"id":"https://openalex.org/keywords/thrust-vector-control","display_name":"thrust vectoring","score":0.8420000076293945},{"id":"https://openalex.org/keywords/position-and-attitude-tracking","display_name":"position and attitude tracking","score":0.847000002861023}],"concepts":[{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.7528889179229736},{"id":"https://openalex.org/C2778072542","wikidata":"https://www.wikidata.org/wiki/Q4677499","display_name":"Active disturbance rejection control","level":4,"score":0.7075836658477783},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6684156060218811},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5605392456054688},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.49415042996406555},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15004339814186096},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12817198038101196},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.08384594321250916},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.06716582179069519},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/17298806251331321","doi":"https://doi.org/10.1177/17298806251331321","is_oa":true,"landing_page_url":"https://doi.org/10.1177/17298806251331321","pdf_url":null,"source":{"id":"https://openalex.org/S169266912","display_name":"International Journal of Advanced Robotic Systems","issn_l":"1729-8806","issn":["1729-8806","1729-8814"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","dongbi-b","norway-1","poland-40","russia-white-list-2","vabb-shw"],"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Advanced Robotic Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:62ce632c68694ed3ae4829435628c035","doi":null,"is_oa":true,"landing_page_url":"https://doaj.org/article/62ce632c68694ed3ae4829435628c035","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Journal of Advanced Robotic Systems, Vol 22 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1177/17298806251331321","doi":"https://doi.org/10.1177/17298806251331321","is_oa":true,"landing_page_url":"https://doi.org/10.1177/17298806251331321","pdf_url":null,"source":{"id":"https://openalex.org/S169266912","display_name":"International Journal of Advanced Robotic Systems","issn_l":"1729-8806","issn":["1729-8806","1729-8814"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","dongbi-b","norway-1","poland-40","russia-white-list-2","vabb-shw"],"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Advanced Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"sustainable_development_goals_aurora":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G1197565705","display_name":"\u591a\u8f74\u65e0\u4eba\u673a\u7684\u591a\u6a21\u578b\u5bb9\u9519\u63a7\u5236\u65b9\u6cd5\u7814\u7a76","funder_award_id":"61763012","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2131225049","https://openalex.org/W2156212180","https://openalex.org/W2162029722","https://openalex.org/W2467745657","https://openalex.org/W2783840519","https://openalex.org/W2810167883","https://openalex.org/W2890049074","https://openalex.org/W2979022545","https://openalex.org/W3004656347","https://openalex.org/W3101738542","https://openalex.org/W3137641668","https://openalex.org/W3138813015","https://openalex.org/W3153481670","https://openalex.org/W3186101809","https://openalex.org/W4200360647","https://openalex.org/W4226515444","https://openalex.org/W4286213280","https://openalex.org/W4296251891","https://openalex.org/W4297193076","https://openalex.org/W4310164869","https://openalex.org/W4311715451","https://openalex.org/W4401413714"],"related_works":["https://openalex.org/W2514087717","https://openalex.org/W4388740344","https://openalex.org/W4210729524","https://openalex.org/W2991240131","https://openalex.org/W4387447421","https://openalex.org/W2568049756","https://openalex.org/W2373371084","https://openalex.org/W3040109429","https://openalex.org/W2953358686","https://openalex.org/W2294659156"],"abstract_inverted_index":{"Tiltable-rotors":[0],"fully-actuated":[1,68],"unmanned":[2,51,70,113],"aerial":[3,52,71,114],"vehicles":[4,115],"achieve":[5,117],"full":[6],"control":[7,44,64,79],"by":[8],"dynamically":[9],"adjusting":[10],"thrust":[11,36],"vector":[12,37],"direction":[13],"through":[14],"tilting":[15],"mechanisms.":[16],"However,":[17],"physical":[18],"constraints":[19],"on":[20],"actuator":[21,28,86,132],"amplitudes":[22],"and":[23,47,81,120,134],"rates":[24],"lead":[25],"to":[26,38,78,116],"noticeable":[27],"saturation":[29,32,89,125],"effects.":[30],"Such":[31],"can":[33],"cause":[34],"the":[35,84,111,128],"deviate":[39],"from":[40],"desired":[41],"values,":[42],"compromising":[43],"system":[45],"performance":[46],"potentially":[48],"resulting":[49],"in":[50],"vehicle":[53],"crashes.":[54],"To":[55],"address":[56],"this":[57,59,108],"issue,":[58],"paper":[60],"proposes":[61],"an":[62,97],"anti-windup":[63,76,98],"method":[65,74,109],"for":[66,93],"tiltable-rotors":[67],"hexarotor":[69,112],"vehicles.":[72],"This":[73],"applies":[75],"principles":[77],"allocation":[80],"controllers,":[82],"obtaining":[83],"optimal":[85],"solution":[87],"within":[88],"constraints.":[90],"It":[91],"compensates":[92],"saturation-induced":[94],"disturbances":[95],"using":[96],"linear":[99],"active":[100],"disturbance":[101],"rejection":[102],"control.":[103],"Simulation":[104],"results":[105],"demonstrate":[106],"that":[107],"enables":[110],"decoupled":[118],"position":[119],"attitude":[121],"tracking":[122],"under":[123],"various":[124],"constraints,":[126],"proving":[127],"feasibility":[129],"of":[130],"resisting":[131],"amplitude":[133],"rate":[135],"saturation.":[136]},"counts_by_year":[],"updated_date":"2026-10-14T16:39:01.820549","created_date":"2025-10-10T00:00:00"}