{"id":"https://openalex.org/W4413294490","doi":"https://doi.org/10.1016/j.robot.2025.105162","title":"Control and stabilization of quadcopters subjected to propeller failures","display_name":"Control and stabilization of quadcopters subjected to propeller failures","publication_year":2025,"publication_date":"2025-08-18","ids":{"openalex":"https://openalex.org/W4413294490","doi":"https://doi.org/10.1016/j.robot.2025.105162"},"language":"en","primary_location":{"id":"doi:10.1016/j.robot.2025.105162","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.robot.2025.105162","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1016/j.robot.2025.105162","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075300735","display_name":"J\u00fanio S. Bulh\u00f5es","orcid":"https://orcid.org/0000-0002-7476-7058"},"institutions":[{"id":"https://openalex.org/I3018305852","display_name":"Instituto Federal de Educa\u00e7\u00e3o, Ci\u00eancia e Tecnologia de Mato Grosso","ror":"https://ror.org/02t6f2351","country_code":"BR","type":"education","lineage":["https://openalex.org/I3018305852"]},{"id":"https://openalex.org/I4210132153","display_name":"Instituto Federal de Goi\u00e1s","ror":"https://ror.org/03gq9pd80","country_code":"BR","type":"education","lineage":["https://openalex.org/I4210132153"]},{"id":"https://openalex.org/I68106152","display_name":"Universidade Federal de Goi\u00e1s","ror":"https://ror.org/0039d5757","country_code":"BR","type":"education","lineage":["https://openalex.org/I68106152"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Junio Santos Bulh\u00f5es","raw_affiliation_strings":["Electrical, Mechanical & Computer Engineering School, Federal University of Goias, Goiania, Goias, Brazil","Federal Institute of Mato Grosso (IFMT), Mato Grosso, Brazil","Technology Research and Development Center (GCITE), Federal Institute of Goias, Goiania, Goias, Brazil"],"raw_orcid":"https://orcid.org/0000-0002-7476-7058","affiliations":[{"raw_affiliation_string":"Electrical, Mechanical & Computer Engineering School, Federal University of Goias, Goiania, Goias, Brazil","institution_ids":["https://openalex.org/I68106152"]},{"raw_affiliation_string":"Federal Institute of Mato Grosso (IFMT), Mato Grosso, Brazil","institution_ids":["https://openalex.org/I3018305852"]},{"raw_affiliation_string":"Technology Research and Development Center (GCITE), Federal Institute of Goias, Goiania, Goias, Brazil","institution_ids":["https://openalex.org/I4210132153"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053115196","display_name":"Cristiane L. Martins","orcid":"https://orcid.org/0000-0001-6163-6238"},"institutions":[{"id":"https://openalex.org/I32725510","display_name":"Universidade Federal de Mato Grosso","ror":"https://ror.org/01mqvjv41","country_code":"BR","type":"education","lineage":["https://openalex.org/I32725510"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Cristiane Lopes Martins","raw_affiliation_strings":["Federal University of Mato Grosso (UFMT), Mato Grosso, Brazil"],"raw_orcid":"https://orcid.org/0000-0001-6163-6238","affiliations":[{"raw_affiliation_string":"Federal University of Mato Grosso (UFMT), Mato Grosso, Brazil","institution_ids":["https://openalex.org/I32725510"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034540743","display_name":"Viviane M. Gomes","orcid":"https://orcid.org/0000-0003-3693-4377"},"institutions":[{"id":"https://openalex.org/I4210132153","display_name":"Instituto Federal de Goi\u00e1s","ror":"https://ror.org/03gq9pd80","country_code":"BR","type":"education","lineage":["https://openalex.org/I4210132153"]},{"id":"https://openalex.org/I43727914","display_name":"Pontif\u00edcia Universidade Cat\u00f3lica de Goi\u00e1s","ror":"https://ror.org/02a7yfb86","country_code":"BR","type":"education","lineage":["https://openalex.org/I43727914"]},{"id":"https://openalex.org/I68106152","display_name":"Universidade Federal de Goi\u00e1s","ror":"https://ror.org/0039d5757","country_code":"BR","type":"education","lineage":["https://openalex.org/I68106152"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Viviane M. Gomes Pacheco","raw_affiliation_strings":["Electrical, Mechanical & Computer Engineering School, Federal University of Goias, Goiania, Goias, Brazil","Graduate Program in Production and Systems Engineering, Pontifical Catholic University of Goias, Goiania, Goias PC 74605-010, Brazil","Technology Research and Development Center (GCITE), Federal Institute of Goias, Goiania, Goias, Brazil"],"raw_orcid":"https://orcid.org/0000-0003-3693-4377","affiliations":[{"raw_affiliation_string":"Electrical, Mechanical & Computer Engineering School, Federal University of Goias, Goiania, Goias, Brazil","institution_ids":["https://openalex.org/I68106152"]},{"raw_affiliation_string":"Graduate Program in Production and Systems Engineering, Pontifical Catholic University of Goias, Goiania, Goias PC 74605-010, Brazil","institution_ids":["https://openalex.org/I43727914"]},{"raw_affiliation_string":"Technology Research and Development Center (GCITE), Federal Institute of Goias, Goiania, Goias, Brazil","institution_ids":["https://openalex.org/I4210132153"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052100275","display_name":"Alana da Silva Magalh\u00e3es","orcid":"https://orcid.org/0000-0003-2027-1783"},"institutions":[{"id":"https://openalex.org/I4210132153","display_name":"Instituto Federal de Goi\u00e1s","ror":"https://ror.org/03gq9pd80","country_code":"BR","type":"education","lineage":["https://openalex.org/I4210132153"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Alana da Silva Magalh\u00e3es","raw_affiliation_strings":["Technology Research and Development Center (GCITE), Federal Institute of Goias, Goiania, Goias, Brazil"],"raw_orcid":"https://orcid.org/0000-0003-2027-1783","affiliations":[{"raw_affiliation_string":"Technology Research and Development Center (GCITE), Federal Institute of Goias, Goiania, Goias, Brazil","institution_ids":["https://openalex.org/I4210132153"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053713312","display_name":"Cl\u00f3ves Gon\u00e7alves Rodrigues","orcid":"https://orcid.org/0000-0003-0140-9847"},"institutions":[{"id":"https://openalex.org/I43727914","display_name":"Pontif\u00edcia Universidade Cat\u00f3lica de Goi\u00e1s","ror":"https://ror.org/02a7yfb86","country_code":"BR","type":"education","lineage":["https://openalex.org/I43727914"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Cl\u00f3ves Gon\u00e7alves Rodrigues","raw_affiliation_strings":["Graduate Program in Production and Systems Engineering, Pontifical Catholic University of Goias, Goiania, Goias PC 74605-010, Brazil"],"raw_orcid":"https://orcid.org/0000-0003-0140-9847","affiliations":[{"raw_affiliation_string":"Graduate Program in Production and Systems Engineering, Pontifical Catholic University of Goias, Goiania, Goias PC 74605-010, Brazil","institution_ids":["https://openalex.org/I43727914"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045501372","display_name":"A. Paulo Coimbra","orcid":"https://orcid.org/0000-0003-3780-2405"},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Antonio Paulo Coimbra","raw_affiliation_strings":["Institute of Systems and Robotics, Coimbra University, Coimbra, Portugal"],"raw_orcid":"https://orcid.org/0000-0003-3780-2405","affiliations":[{"raw_affiliation_string":"Institute of Systems and Robotics, Coimbra University, Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047421952","display_name":"Wesley Pacheco Calixto","orcid":"https://orcid.org/0000-0002-1928-4432"},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I4210132153","display_name":"Instituto Federal de Goi\u00e1s","ror":"https://ror.org/03gq9pd80","country_code":"BR","type":"education","lineage":["https://openalex.org/I4210132153"]},{"id":"https://openalex.org/I68106152","display_name":"Universidade Federal de Goi\u00e1s","ror":"https://ror.org/0039d5757","country_code":"BR","type":"education","lineage":["https://openalex.org/I68106152"]}],"countries":["BR","PT"],"is_corresponding":true,"raw_author_name":"Wesley Pacheco Calixto","raw_affiliation_strings":["Electrical, Mechanical & Computer Engineering School, Federal University of Goias, Goiania, Goias, Brazil","Institute of Systems and Robotics, Coimbra University, Coimbra, Portugal","Technology Research and Development Center (GCITE), Federal Institute of Goias, Goiania, Goias, Brazil"],"raw_orcid":"https://orcid.org/0000-0002-1928-4432","affiliations":[{"raw_affiliation_string":"Electrical, Mechanical & Computer Engineering School, Federal University of Goias, Goiania, Goias, Brazil","institution_ids":["https://openalex.org/I68106152"]},{"raw_affiliation_string":"Institute of Systems and Robotics, Coimbra University, Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590"]},{"raw_affiliation_string":"Technology Research and Development Center (GCITE), Federal Institute of Goias, Goiania, Goias, Brazil","institution_ids":["https://openalex.org/I4210132153"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5047421952","https://openalex.org/A5075300735"],"corresponding_institution_ids":["https://openalex.org/I3018305852","https://openalex.org/I4210125590","https://openalex.org/I4210132153","https://openalex.org/I68106152"],"apc_list":{"value":3140,"currency":"USD","value_usd":3140},"apc_paid":{"value":3140,"currency":"USD","value_usd":3140},"fwci":0.4423,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.60430648,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"194","issue":null,"first_page":"105162","last_page":"105162"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9955999851226807,"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":0.9955999851226807,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9896000027656555,"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/computer-science","display_name":"Computer science","score":0.8751977682113647},{"id":"https://openalex.org/keywords/propeller","display_name":"Propeller","score":0.7527103424072266},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4748181104660034},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.3759227991104126},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.25549691915512085},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2130679488182068}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8751977682113647},{"id":"https://openalex.org/C80055088","wikidata":"https://www.wikidata.org/wiki/Q205451","display_name":"Propeller","level":2,"score":0.7527103424072266},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4748181104660034},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.3759227991104126},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.25549691915512085},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2130679488182068},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.robot.2025.105162","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.robot.2025.105162","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1016/j.robot.2025.105162","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.robot.2025.105162","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7799999713897705,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G5379343761","display_name":null,"funder_award_id":"UIDB/00048/2020","funder_id":"https://openalex.org/F4320328274","funder_display_name":"Fulbright Portugal"}],"funders":[{"id":"https://openalex.org/F4320321091","display_name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","ror":"https://ror.org/00x0ma614"},{"id":"https://openalex.org/F4320322025","display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","ror":"https://ror.org/03swz6y49"},{"id":"https://openalex.org/F4320328274","display_name":"Fulbright Portugal","ror":null},{"id":"https://openalex.org/F4320334779","display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","ror":"https://ror.org/00snfqn58"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":71,"referenced_works":["https://openalex.org/W126378795","https://openalex.org/W1566405224","https://openalex.org/W1902963647","https://openalex.org/W1981076830","https://openalex.org/W2013538571","https://openalex.org/W2026836521","https://openalex.org/W2253860499","https://openalex.org/W2331477277","https://openalex.org/W2336995261","https://openalex.org/W2420367108","https://openalex.org/W2604842719","https://openalex.org/W2610728744","https://openalex.org/W2768254723","https://openalex.org/W2768508481","https://openalex.org/W2789657489","https://openalex.org/W2791641473","https://openalex.org/W2802739957","https://openalex.org/W2806610605","https://openalex.org/W2808347617","https://openalex.org/W2809187056","https://openalex.org/W2883113516","https://openalex.org/W2899483111","https://openalex.org/W2907275873","https://openalex.org/W2911010442","https://openalex.org/W2912368855","https://openalex.org/W2913688386","https://openalex.org/W2923711703","https://openalex.org/W2936696317","https://openalex.org/W2973697444","https://openalex.org/W2982558025","https://openalex.org/W2984307678","https://openalex.org/W3005470293","https://openalex.org/W3082052221","https://openalex.org/W3107944189","https://openalex.org/W3118409872","https://openalex.org/W3128815505","https://openalex.org/W3132776463","https://openalex.org/W3152494138","https://openalex.org/W3186446693","https://openalex.org/W3200784061","https://openalex.org/W4214773021","https://openalex.org/W4233022484","https://openalex.org/W4245150051","https://openalex.org/W4248832460","https://openalex.org/W4253204626","https://openalex.org/W4309462258","https://openalex.org/W4313526373","https://openalex.org/W4313547085","https://openalex.org/W4388145564","https://openalex.org/W4393137788","https://openalex.org/W4403230545","https://openalex.org/W4407247791","https://openalex.org/W6636433092","https://openalex.org/W6641007257","https://openalex.org/W6659852753","https://openalex.org/W6666196584","https://openalex.org/W6670374037","https://openalex.org/W6679440472","https://openalex.org/W6718896779","https://openalex.org/W6730415170","https://openalex.org/W6730548698","https://openalex.org/W6733078136","https://openalex.org/W6746178488","https://openalex.org/W6747281526","https://openalex.org/W6754611301","https://openalex.org/W6757633961","https://openalex.org/W6776629731","https://openalex.org/W6802015389","https://openalex.org/W6855489449","https://openalex.org/W6860043333","https://openalex.org/W6889007986"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2066990921","https://openalex.org/W1974452356","https://openalex.org/W2971167090","https://openalex.org/W2625892687","https://openalex.org/W2890137875","https://openalex.org/W2390279801","https://openalex.org/W744260192"],"abstract_inverted_index":{"This":[0],"work":[1],"develops":[2],"an":[3],"auxiliary":[4],"control":[5,11,40,158],"system":[6],"based":[7],"on":[8],"sliding":[9,81],"mode":[10,82],"in":[12,17,26,44,64,96,125,144,153,174,191,201],"order":[13],"to":[14,60,87,121,166],"stabilize":[15],"quadcopters":[16,160,214],"the":[18,27,36,54,67,78,89,97,107,115,129,133],"event":[19],"of":[20,29,38,56,66,71,80,91,114,127,164,199],"propeller":[21,162],"failures,":[22],"a":[23,46,50,137,207,216],"significant":[24],"challenge":[25],"operation":[28],"unmanned":[30],"aircraft.":[31],"The":[32,69],"proposed":[33,130],"approach":[34],"includes":[35],"implementation":[37],"modern":[39],"techniques,":[41],"extensively":[42],"tested":[43],"both":[45],"nonlinear":[47],"simulator":[48,185],"and":[49,74,99,110,139,151,176,186,197,209],"testing":[51,187],"platform,":[52,188],"allowing":[53],"reproduction":[55],"scenarios":[57],"with":[58,215],"up":[59,165],"30%":[61],"power":[62],"loss":[63],"one":[65],"motors.":[68],"combination":[70],"detailed":[72],"simulations":[73],"practical":[75,140,208],"experiments":[76],"demonstrates":[77],"efficiency":[79,190,198],"control,":[83],"which":[84],"is":[85],"able":[86],"mitigate":[88],"effects":[90],"failures":[92,163],"by":[93,102,179],"reducing":[94],"deviations":[95,173],"\u03d5":[98,175],"\u03b8":[100,177],"angles":[101,178],"more":[103],"than":[104],"80%":[105],"at":[106],"initial":[108,172],"moments":[109],"maintaining":[111],"partial":[112],"stability":[113],"angle":[116],"\u03c8":[117],".":[118],"In":[119],"addition":[120],"surpassing":[122],"other":[123],"approaches":[124],"terms":[126],"efficiency,":[128],"method":[131],"preserves":[132],"aircraft\u2019s":[134],"autonomy,":[135],"offering":[136],"robust":[138],"solution":[141,211],"for":[142,212],"application":[143],"real":[145],"operational":[146],"environments,":[147],"ensuring":[148],"greater":[149],"safety":[150],"reliability":[152],"quadcopter":[154],"control.":[155],"\u2022":[156,168,181,194,205],"SMC":[157],"stabilizes":[159],"under":[161],"30%.":[167],"Robust":[169],"methodology":[170],"reduces":[171],"80%.":[180],"System":[182],"validated":[183],"through":[184],"demonstrating":[189],"real-world":[192],"conditions.":[193],"Maintains":[195],"autonomy":[196],"aircraft":[200],"critical":[202],"failure":[203],"scenarios.":[204],"Provides":[206],"safe":[210],"controlling":[213],"failed":[217],"propeller.":[218]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}