{"id":"https://openalex.org/W2037467395","doi":"https://doi.org/10.1109/acc.2010.5531424","title":"Adaptive tracking control of underactuated quadrotor unmanned aerial vehicles via backstepping","display_name":"Adaptive tracking control of underactuated quadrotor unmanned aerial vehicles via backstepping","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W2037467395","doi":"https://doi.org/10.1109/acc.2010.5531424","mag":"2037467395"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2010.5531424","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2010.5531424","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2010 American Control Conference","raw_type":"proceedings-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/A5019266033","display_name":"Mu Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Mu Huang","raw_affiliation_strings":["Tianjin Key Laboratory of Process Measurement and Control, School of Electrical Engineering and Automation, Tianjin University, TJU, Tianjin, China","[Tianjin Key Laboratory of Process Measurement and Control, School of Electrical Engineering and Automation, Tianjin University, 300072, China]"],"affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Process Measurement and Control, School of Electrical Engineering and Automation, Tianjin University, TJU, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"[Tianjin Key Laboratory of Process Measurement and Control, School of Electrical Engineering and Automation, Tianjin University, 300072, China]","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014687668","display_name":"Bin Xian","orcid":"https://orcid.org/0000-0002-8018-5089"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Xian","raw_affiliation_strings":["Tianjin Key Laboratory of Process Measurement and Control, School of Electrical Engineering and Automation, Tianjin University, TJU, Tianjin, China","[Tianjin Key Laboratory of Process Measurement and Control, School of Electrical Engineering and Automation, Tianjin University, 300072, China]"],"affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Process Measurement and Control, School of Electrical Engineering and Automation, Tianjin University, TJU, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"[Tianjin Key Laboratory of Process Measurement and Control, School of Electrical Engineering and Automation, Tianjin University, 300072, China]","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055553365","display_name":"Chen Diao","orcid":"https://orcid.org/0000-0002-5003-3586"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Diao","raw_affiliation_strings":["Tianjin Key Laboratory of Process Measurement and Control, School of Electrical Engineering and Automation, Tianjin University, TJU, Tianjin, China","[Tianjin Key Laboratory of Process Measurement and Control, School of Electrical Engineering and Automation, Tianjin University, 300072, China]"],"affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Process Measurement and Control, School of Electrical Engineering and Automation, Tianjin University, TJU, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"[Tianjin Key Laboratory of Process Measurement and Control, School of Electrical Engineering and Automation, Tianjin University, 300072, China]","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109917068","display_name":"Kaiyan Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaiyan Yang","raw_affiliation_strings":["Tianjin Key Laboratory of Process Measurement and Control, School of Electrical Engineering and Automation, Tianjin University, TJU, Tianjin, China","[Tianjin Key Laboratory of Process Measurement and Control, School of Electrical Engineering and Automation, Tianjin University, 300072, China]"],"affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Process Measurement and Control, School of Electrical Engineering and Automation, Tianjin University, TJU, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"[Tianjin Key Laboratory of Process Measurement and Control, School of Electrical Engineering and Automation, Tianjin University, 300072, China]","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100692359","display_name":"Yu Feng","orcid":"https://orcid.org/0009-0002-2725-9605"},"institutions":[{"id":"https://openalex.org/I4210139507","display_name":"State Nuclear Power Technology Company (China)","ror":"https://ror.org/03pydjx38","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210139507"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Feng","raw_affiliation_strings":["Chinese State Nuclear Power Technology Corporation Limited, Beijing, China","Chinese State Nuclear Power Technology Corporation LTD, Beijing 100140, China"],"affiliations":[{"raw_affiliation_string":"Chinese State Nuclear Power Technology Corporation Limited, Beijing, China","institution_ids":["https://openalex.org/I4210139507"]},{"raw_affiliation_string":"Chinese State Nuclear Power Technology Corporation LTD, Beijing 100140, China","institution_ids":["https://openalex.org/I4210139507"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5019266033"],"corresponding_institution_ids":["https://openalex.org/I162868743"],"apc_list":null,"apc_paid":null,"fwci":12.3942,"has_fulltext":false,"cited_by_count":155,"citation_normalized_percentile":{"value":0.98438789,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"2076","last_page":"2081"},"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/T12158","display_name":"Guidance and Control Systems","score":0.9991999864578247,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.9507393836975098},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.9145516157150269},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8539769649505615},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5897749662399292},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5608989000320435},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5608291625976562},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5577399134635925},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5117511749267578},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.4845539629459381},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4741724729537964},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.45659172534942627},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.45008084177970886},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.43609052896499634},{"id":"https://openalex.org/keywords/euler-angles","display_name":"Euler angles","score":0.42556232213974},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.414357453584671},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4130482077598572},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3092889189720154},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2784876823425293},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18159189820289612},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13218992948532104},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07954749464988708},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07825413346290588}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.9507393836975098},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.9145516157150269},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8539769649505615},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5897749662399292},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5608989000320435},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5608291625976562},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5577399134635925},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5117511749267578},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.4845539629459381},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4741724729537964},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.45659172534942627},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.45008084177970886},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.43609052896499634},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.42556232213974},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.414357453584671},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4130482077598572},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3092889189720154},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2784876823425293},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18159189820289612},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13218992948532104},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07954749464988708},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07825413346290588},{"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2010.5531424","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2010.5531424","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2010 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5699999928474426,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1966369671","https://openalex.org/W1994587255","https://openalex.org/W2033263416","https://openalex.org/W2087061899","https://openalex.org/W2090167557","https://openalex.org/W2100563249","https://openalex.org/W2126096851","https://openalex.org/W2131692463","https://openalex.org/W2137570966","https://openalex.org/W2167049898","https://openalex.org/W2167229184","https://openalex.org/W2171282025","https://openalex.org/W2332102049"],"related_works":["https://openalex.org/W2500162090","https://openalex.org/W2046770915","https://openalex.org/W2217718355","https://openalex.org/W2369318130","https://openalex.org/W3205444542","https://openalex.org/W1498122250","https://openalex.org/W2363210682","https://openalex.org/W1527194952","https://openalex.org/W2899893118","https://openalex.org/W1980281239"],"abstract_inverted_index":{"This":[0],"paper":[1],"considers":[2],"about":[3],"the":[4,32,36,44,52,61,66,69,74,84],"control":[5,46,90],"problem":[6],"for":[7,31,51],"an":[8],"underactuated":[9],"quadrotor":[10,75],"UAV":[11],"system":[12],"with":[13],"model":[14],"parameter":[15],"uncertainty.":[16],"Backstepping":[17],"based":[18,39],"techniques":[19],"are":[20,80],"utilized":[21],"to":[22,82],"design":[23,47],"a":[24],"nonlinear":[25],"adaptive":[26],"controller":[27],"which":[28],"can":[29],"compensate":[30],"mass":[33],"uncertainty":[34],"of":[35,68,73,88],"vehicle.":[37],"Lyapunov":[38],"stability":[40,67],"analysis":[41],"shows":[42],"that":[43],"proposed":[45,89],"yields":[48],"asymptotic":[49],"tracking":[50,86],"UAV's":[53],"motion":[54],"in":[55],"x,":[56],"y,":[57],"z":[58],"direction":[59],"and":[60],"yaw":[62],"rotation,":[63],"while":[64],"keep":[65],"closed":[70],"loop":[71],"dynamics":[72],"UAV.":[76],"Numerical":[77],"simulation":[78],"results":[79],"provided":[81],"show":[83],"good":[85],"performance":[87],"laws.":[91]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":16},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":18},{"year":2017,"cited_by_count":17},{"year":2016,"cited_by_count":12},{"year":2015,"cited_by_count":13},{"year":2014,"cited_by_count":18},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":9}],"updated_date":"2026-03-11T06:11:40.159057","created_date":"2025-10-10T00:00:00"}