{"id":"https://openalex.org/W1992716641","doi":"https://doi.org/10.1007/s10846-013-9962-z","title":"Hard Real-Time Implementation of a Nonlinear Controller for the Quadrotor Helicopter","display_name":"Hard Real-Time Implementation of a Nonlinear Controller for the Quadrotor Helicopter","publication_year":2013,"publication_date":"2013-10-11","ids":{"openalex":"https://openalex.org/W1992716641","doi":"https://doi.org/10.1007/s10846-013-9962-z","mag":"1992716641"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-013-9962-z","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-013-9962-z","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 & 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/A5076458394","display_name":"J. Rogelio Guadarrama-Olvera","orcid":"https://orcid.org/0000-0002-8967-9472"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]},{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"J. Rogelio Guadarrama-Olvera","raw_affiliation_strings":["Departamento de Ingenier\u00eda El\u00e9ctrica, CINVESTAV-IPN, Av. Instituto Polit\u00e9cnico Nacional 2508, 07360, M\u00e9xico D. F., M\u00e9xico","Departamento de Ingenier\u00eda El\u00e9ctrica, CINVESTAV-IPN, Av. Instituto Polit\u00e9cnico Nacional 2508, 07360, M\u00e9xico D.\u00a0F., M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00eda El\u00e9ctrica, CINVESTAV-IPN, Av. Instituto Polit\u00e9cnico Nacional 2508, 07360, M\u00e9xico D. F., M\u00e9xico","institution_ids":["https://openalex.org/I59361560","https://openalex.org/I68368234"]},{"raw_affiliation_string":"Departamento de Ingenier\u00eda El\u00e9ctrica, CINVESTAV-IPN, Av. Instituto Polit\u00e9cnico Nacional 2508, 07360, M\u00e9xico D.\u00a0F., M\u00e9xico","institution_ids":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034211926","display_name":"Jos\u00e9 J. Corona-S\u00e1nchez","orcid":null},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]},{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Jos\u00e9 J. Corona-S\u00e1nchez","raw_affiliation_strings":["Departamento de Ingenier\u00eda El\u00e9ctrica, CINVESTAV-IPN, Av. Instituto Polit\u00e9cnico Nacional 2508, 07360, M\u00e9xico D. F., M\u00e9xico","Departamento de Ingenier\u00eda El\u00e9ctrica, CINVESTAV-IPN, Av. Instituto Polit\u00e9cnico Nacional 2508, 07360, M\u00e9xico D.\u00a0F., M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00eda El\u00e9ctrica, CINVESTAV-IPN, Av. Instituto Polit\u00e9cnico Nacional 2508, 07360, M\u00e9xico D. F., M\u00e9xico","institution_ids":["https://openalex.org/I59361560","https://openalex.org/I68368234"]},{"raw_affiliation_string":"Departamento de Ingenier\u00eda El\u00e9ctrica, CINVESTAV-IPN, Av. Instituto Polit\u00e9cnico Nacional 2508, 07360, M\u00e9xico D.\u00a0F., M\u00e9xico","institution_ids":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008418032","display_name":"H. Rodr\u00edguez-Cort\u00e9s","orcid":"https://orcid.org/0000-0002-3806-8137"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]},{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"H. Rodr\u00edguez-Cort\u00e9s","raw_affiliation_strings":["Departamento de Ingenier\u00eda El\u00e9ctrica, CINVESTAV-IPN, Av. Instituto Polit\u00e9cnico Nacional 2508, 07360, M\u00e9xico D. F., M\u00e9xico","Departamento de Ingenier\u00eda El\u00e9ctrica, CINVESTAV-IPN, Av. Instituto Polit\u00e9cnico Nacional 2508, 07360, M\u00e9xico D.\u00a0F., M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00eda El\u00e9ctrica, CINVESTAV-IPN, Av. Instituto Polit\u00e9cnico Nacional 2508, 07360, M\u00e9xico D. F., M\u00e9xico","institution_ids":["https://openalex.org/I59361560","https://openalex.org/I68368234"]},{"raw_affiliation_string":"Departamento de Ingenier\u00eda El\u00e9ctrica, CINVESTAV-IPN, Av. Instituto Polit\u00e9cnico Nacional 2508, 07360, M\u00e9xico D.\u00a0F., M\u00e9xico","institution_ids":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5008418032"],"corresponding_institution_ids":["https://openalex.org/I59361560","https://openalex.org/I68368234"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":4.0733,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.93374937,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"73","issue":"1-4","first_page":"81","last_page":"97"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.994700014591217,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9945999979972839,"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/nonlinear-system","display_name":"Nonlinear system","score":0.7350003719329834},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7129462361335754},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6612062454223633},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.6259201169013977},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6148929595947266},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5835387706756592},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5536718964576721},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5280954241752625},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.47528114914894104},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4748530685901642},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45987409353256226},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4389810562133789},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27065056562423706},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.19271227717399597},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10776105523109436}],"concepts":[{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.7350003719329834},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7129462361335754},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6612062454223633},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.6259201169013977},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6148929595947266},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5835387706756592},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5536718964576721},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5280954241752625},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.47528114914894104},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4748530685901642},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45987409353256226},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4389810562133789},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27065056562423706},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.19271227717399597},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10776105523109436},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-013-9962-z","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-013-9962-z","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 & Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.6100000143051147,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W58620178","https://openalex.org/W81848849","https://openalex.org/W393689543","https://openalex.org/W576587202","https://openalex.org/W1527862143","https://openalex.org/W1536563051","https://openalex.org/W1557079818","https://openalex.org/W1574945970","https://openalex.org/W1576721254","https://openalex.org/W1975405925","https://openalex.org/W1983321650","https://openalex.org/W2003272792","https://openalex.org/W2005231595","https://openalex.org/W2018431869","https://openalex.org/W2026836521","https://openalex.org/W2043151145","https://openalex.org/W2046287268","https://openalex.org/W2060794637","https://openalex.org/W2068119842","https://openalex.org/W2072953737","https://openalex.org/W2076420009","https://openalex.org/W2086748818","https://openalex.org/W2101918532","https://openalex.org/W2102872389","https://openalex.org/W2112166125","https://openalex.org/W2118824103","https://openalex.org/W2119394765","https://openalex.org/W2123009355","https://openalex.org/W2127467256","https://openalex.org/W2129116947","https://openalex.org/W2158025740","https://openalex.org/W2163198877","https://openalex.org/W2165771902","https://openalex.org/W2171541961","https://openalex.org/W2178389708","https://openalex.org/W2317596528","https://openalex.org/W2403329943","https://openalex.org/W2505324308","https://openalex.org/W2528951757","https://openalex.org/W2914656440","https://openalex.org/W2970528191","https://openalex.org/W3023258080","https://openalex.org/W4213351435","https://openalex.org/W6632013312"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2225378543","https://openalex.org/W4287122200","https://openalex.org/W9839718","https://openalex.org/W3110613631","https://openalex.org/W3166845860","https://openalex.org/W2742744817","https://openalex.org/W3202472720","https://openalex.org/W4212955604","https://openalex.org/W2382856674"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3}],"updated_date":"2026-06-19T15:47:20.252518","created_date":"2025-10-10T00:00:00"}