{"id":"https://openalex.org/W2093755414","doi":"https://doi.org/10.1109/acc.2013.6579836","title":"Simultaneous attitude control and trajectory tracking of a micro quadrotor: A SNAC aided nonlinear dynamic inversion approach","display_name":"Simultaneous attitude control and trajectory tracking of a micro quadrotor: A SNAC aided nonlinear dynamic inversion approach","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W2093755414","doi":"https://doi.org/10.1109/acc.2013.6579836","mag":"2093755414"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2013.6579836","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2013.6579836","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 American Control Conference","raw_type":"proceedings-article"},"type":"conference-paper","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/A5074392964","display_name":"Shivendra N. Tiwari","orcid":null},"institutions":[{"id":"https://openalex.org/I59270414","display_name":"Indian Institute of Science Bangalore","ror":"https://ror.org/04dese585","country_code":"IN","type":"education","lineage":["https://openalex.org/I59270414"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Shivendra N. Tiwari","raw_affiliation_strings":["Indian Institute of Science, Bangalore, Karnataka, IN","[Dept. of Aerosp. Eng., Indian Inst. of Sci., Bangalore, India]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Science, Bangalore, Karnataka, IN","institution_ids":["https://openalex.org/I59270414"]},{"raw_affiliation_string":"[Dept. of Aerosp. Eng., Indian Inst. of Sci., Bangalore, India]","institution_ids":["https://openalex.org/I59270414"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070039223","display_name":"Radhakant Padhi","orcid":"https://orcid.org/0000-0001-5638-0995"},"institutions":[{"id":"https://openalex.org/I59270414","display_name":"Indian Institute of Science Bangalore","ror":"https://ror.org/04dese585","country_code":"IN","type":"education","lineage":["https://openalex.org/I59270414"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Radhakant Padhi","raw_affiliation_strings":["Indian Institute of Science, Bangalore, Karnataka, IN","[Dept. of Aerosp. Eng., Indian Inst. of Sci., Bangalore, India]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Science, Bangalore, Karnataka, IN","institution_ids":["https://openalex.org/I59270414"]},{"raw_affiliation_string":"[Dept. of Aerosp. Eng., Indian Inst. of Sci., Bangalore, India]","institution_ids":["https://openalex.org/I59270414"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I59270414"],"apc_list":null,"apc_paid":null,"fwci":1.6348,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.82202797,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"194","last_page":"199"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9986000061035156,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9800000190734863,"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/control-theory","display_name":"Control theory (sociology)","score":0.7045261263847351},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6908978819847107},{"id":"https://openalex.org/keywords/inversion","display_name":"Inversion (geology)","score":0.6643251180648804},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.591433584690094},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4876757860183716},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.463591992855072},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2131653130054474},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1321992576122284},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13204550743103027}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7045261263847351},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6908978819847107},{"id":"https://openalex.org/C1893757","wikidata":"https://www.wikidata.org/wiki/Q3653001","display_name":"Inversion (geology)","level":3,"score":0.6643251180648804},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.591433584690094},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4876757860183716},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.463591992855072},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2131653130054474},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1321992576122284},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13204550743103027},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C109007969","wikidata":"https://www.wikidata.org/wiki/Q749565","display_name":"Structural basin","level":2,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/acc.2013.6579836","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2013.6579836","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 American Control Conference","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.iisc.ac.in:48077","is_oa":false,"landing_page_url":"http://eprints.iisc.ac.in/48077/1/Ame_Con_Conf_194_2013.pdf","pdf_url":"http://eprints.iisc.ac.in/48077/1/Ame_Con_Conf_194_2013.pdf","source":{"id":"https://openalex.org/S4377196309","display_name":"NOT FOUND REPOSITORY (Indian Institute of Science Bangalore)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I59270414","host_organization_name":"Indian Institute of Science Bangalore","host_organization_lineage":["https://openalex.org/I59270414"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W2038617126","https://openalex.org/W2096282629","https://openalex.org/W2099449742","https://openalex.org/W2102255161","https://openalex.org/W2120249358","https://openalex.org/W2134790752","https://openalex.org/W2136909257","https://openalex.org/W2137570966","https://openalex.org/W2141666765","https://openalex.org/W2153807823","https://openalex.org/W2163198877","https://openalex.org/W2168418508","https://openalex.org/W3213472335"],"related_works":["https://openalex.org/W2770593030","https://openalex.org/W3154990682","https://openalex.org/W1982160337","https://openalex.org/W1980470275","https://openalex.org/W2560201613","https://openalex.org/W1971380437","https://openalex.org/W2171975302","https://openalex.org/W2022352247","https://openalex.org/W1983548084","https://openalex.org/W2141691317"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"advanced":[4],"single":[5],"network":[6],"adaptive":[7],"critic":[8],"(SNAC)":[9],"aided":[10,64,180],"nonlinear":[11],"dynamic":[12,71,108,130],"inversion":[13,72,109],"(NDI)":[14],"approach":[15,182],"for":[16,91],"simultaneous":[17],"attitude":[18],"control":[19,53,103],"and":[20,42,115,139],"trajectory":[21],"tracking":[22,145],"of":[23,27,69,129,136,152,157,168],"a":[24,30,78,87,169],"micro-quadrotor.":[25,170],"Control":[26],"micro-quadrotors":[28],"is":[29,99,161,183],"challenging":[31],"problem":[32],"due":[33],"to":[34,48,56,86,111,143,186,191],"its":[35,117],"small":[36],"size,":[37],"strong":[38],"coupling":[39],"in":[40,51,76],"pitch-yaw-roll":[41],"aerodynamic":[43],"effects":[44],"that":[45,80,176],"often":[46],"need":[47],"be":[49],"ignored":[50],"the":[52,61,67,70,81,92,107,137,153,158,177,192],"design":[54,73],"process":[55],"avoid":[57],"mathematical":[58],"complexities.":[59],"In":[60],"proposed":[62,159,178],"SNAC":[63,89,98,179],"NDI":[65,181,193],"approach,":[66],"gains":[68],"are":[74],"selected":[75],"such":[77],"way":[79],"resulting":[82],"controller":[83,90,110,138,160,194],"behaves":[84],"closely":[85],"pre-synthesized":[88],"output":[93],"regulation":[94],"problem.":[95],"However,":[96],"since":[97],"based":[100],"on":[101],"optimal":[102,114],"theory,":[104],"it":[105,124],"makes":[106],"operate":[112],"near":[113],"enhances":[116],"robustness":[118],"property":[119],"as":[120,189],"well.":[121],"More":[122],"important,":[123],"retains":[125],"two":[126],"major":[127],"benefits":[128],"inversion:":[131],"(i)":[132],"closed":[133],"form":[134],"expression":[135],"(ii)":[140],"easy":[141],"scalability":[142],"command":[144],"application":[146],"even":[147],"without":[148],"any":[149],"apriori":[150],"knowledge":[151],"reference":[154],"command.":[155],"Effectiveness":[156],"demonstrated":[162],"from":[163,197],"six":[164],"degree-of-freedom":[165],"simulation":[166],"studies":[167],"It":[171],"has":[172],"also":[173],"been":[174],"observed":[175],"more":[184],"robust":[185],"modeling":[187],"inaccuracies,":[188],"compared":[190],"designed":[195],"independently":[196],"time":[198],"domain":[199],"specifications.":[200]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}