{"id":"https://openalex.org/W2011097576","doi":"https://doi.org/10.1007/s10846-005-9015-3","title":"Time-Optimal Control of a Hovering Quad-Rotor Helicopter","display_name":"Time-Optimal Control of a Hovering Quad-Rotor Helicopter","publication_year":2006,"publication_date":"2006-02-01","ids":{"openalex":"https://openalex.org/W2011097576","doi":"https://doi.org/10.1007/s10846-005-9015-3","mag":"2011097576"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-005-9015-3","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-005-9015-3","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent and Robotic Systems","raw_type":"journal-article"},"type":"article","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/A5109902775","display_name":"Li\u2010Chun Lai","orcid":null},"institutions":[{"id":"https://openalex.org/I75357094","display_name":"National Yunlin University of Science and Technology","ror":"https://ror.org/04qkq2m54","country_code":"TW","type":"education","lineage":["https://openalex.org/I75357094"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Li-Chun Lai","raw_affiliation_strings":["Graduate School of Engineering Science and Technology, National Yunlin University of Science and Technology, Touliu, Yunlin, 640, Taiwan (ROC)","Graduate School of Engineering Science and Technology, National Yunlin University of Science and Technology, Touliu, Taiwan (ROC) 640"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science and Technology, National Yunlin University of Science and Technology, Touliu, Yunlin, 640, Taiwan (ROC)","institution_ids":["https://openalex.org/I75357094"]},{"raw_affiliation_string":"Graduate School of Engineering Science and Technology, National Yunlin University of Science and Technology, Touliu, Taiwan (ROC) 640","institution_ids":["https://openalex.org/I75357094"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100825651","display_name":"Chi-Ching Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I204116968","display_name":"Hsiuping University of Science and Technology","ror":"https://ror.org/04szp2m52","country_code":"TW","type":"education","lineage":["https://openalex.org/I204116968"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chi-Ching Yang","raw_affiliation_strings":["Department of Electrical Engineering, Hsiuping Institute of Technology, Dali, Taichung, 412, Taiwan (ROC)","Department of Electrical Engineering, Hsiuping Institute of Technology, Dali, Taiwan (ROC) 412#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Hsiuping Institute of Technology, Dali, Taichung, 412, Taiwan (ROC)","institution_ids":["https://openalex.org/I204116968"]},{"raw_affiliation_string":"Department of Electrical Engineering, Hsiuping Institute of Technology, Dali, Taiwan (ROC) 412#TAB#","institution_ids":["https://openalex.org/I204116968"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108487528","display_name":"Chia\u2010Ju Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I75357094","display_name":"National Yunlin University of Science and Technology","ror":"https://ror.org/04qkq2m54","country_code":"TW","type":"education","lineage":["https://openalex.org/I75357094"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chia-Ju Wu","raw_affiliation_strings":["Department of Electrical Engineering, National Yunlin University of Science and Technology, Touliu, Yunlin, 640, Taiwan (ROC)","Department of Electrical Engineering, National Yunlin University of Science and Technology, Touliu, Taiwan (ROC) 640"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Yunlin University of Science and Technology, Touliu, Yunlin, 640, Taiwan (ROC)","institution_ids":["https://openalex.org/I75357094"]},{"raw_affiliation_string":"Department of Electrical Engineering, National Yunlin University of Science and Technology, Touliu, Taiwan (ROC) 640","institution_ids":["https://openalex.org/I75357094"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5109902775"],"corresponding_institution_ids":["https://openalex.org/I75357094"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":6.4308,"has_fulltext":false,"cited_by_count":90,"citation_normalized_percentile":{"value":0.95757361,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"45","issue":"2","first_page":"115","last_page":"135"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T12158","display_name":"Guidance and Control Systems","score":0.9972000122070312,"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.9970999956130981,"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/discretization","display_name":"Discretization","score":0.7073869109153748},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.6583936810493469},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6229379177093506},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.58713698387146},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5583836436271667},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5443439483642578},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5358508825302124},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.508054256439209},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4806041419506073},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.47866567969322205},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42758437991142273},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42477500438690186},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4140045642852783},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3586168885231018},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3531898260116577},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13585147261619568}],"concepts":[{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.7073869109153748},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.6583936810493469},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6229379177093506},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.58713698387146},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5583836436271667},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5443439483642578},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5358508825302124},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.508054256439209},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4806041419506073},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.47866567969322205},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42758437991142273},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42477500438690186},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4140045642852783},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3586168885231018},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3531898260116577},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13585147261619568},{"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/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-005-9015-3","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-005-9015-3","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent and Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W176110384","https://openalex.org/W1574945970","https://openalex.org/W1586840671","https://openalex.org/W1587799944","https://openalex.org/W1598822447","https://openalex.org/W1601720162","https://openalex.org/W1745702698","https://openalex.org/W1760948023","https://openalex.org/W1981087084","https://openalex.org/W1994587255","https://openalex.org/W2003272792","https://openalex.org/W2021103340","https://openalex.org/W2079570480","https://openalex.org/W2093589258","https://openalex.org/W2096225761","https://openalex.org/W2096282629","https://openalex.org/W2103641605","https://openalex.org/W2113755254","https://openalex.org/W2144766789","https://openalex.org/W2171282025","https://openalex.org/W2266946488","https://openalex.org/W2798534591","https://openalex.org/W3206777520","https://openalex.org/W4232488140","https://openalex.org/W4291236916","https://openalex.org/W4296154082"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2006251942","https://openalex.org/W2364741597","https://openalex.org/W1492103595","https://openalex.org/W1864774435","https://openalex.org/W946352265","https://openalex.org/W3020787026","https://openalex.org/W2334479858","https://openalex.org/W2799209613","https://openalex.org/W2793786119"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":9}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
