{"id":"https://openalex.org/W2160691913","doi":"https://doi.org/10.1109/acc.2013.6579995","title":"Energy-based nonlinear control for a quadrotor rotorcraft","display_name":"Energy-based nonlinear control for a quadrotor rotorcraft","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W2160691913","doi":"https://doi.org/10.1109/acc.2013.6579995","mag":"2160691913"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2013.6579995","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2013.6579995","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":"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/A5105524871","display_name":"L. E. Munoz","orcid":null},"institutions":[{"id":"https://openalex.org/I102516824","display_name":"Universit\u00e9 de Technologie de Compi\u00e8gne","ror":"https://ror.org/04y5kwa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I102516824"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"L. E. Munoz","raw_affiliation_strings":["Heudiasyc Laboratory UMR 7253, Universit\u00e9 de Technologie de Compi\u00e8gne, Compiegne, France"],"affiliations":[{"raw_affiliation_string":"Heudiasyc Laboratory UMR 7253, Universit\u00e9 de Technologie de Compi\u00e8gne, Compiegne, France","institution_ids":["https://openalex.org/I102516824"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110680777","display_name":"Omar Santos","orcid":null},"institutions":[{"id":"https://openalex.org/I104854061","display_name":"Universidad Aut\u00f3noma del Estado de Hidalgo","ror":"https://ror.org/031f8kt38","country_code":"MX","type":"education","lineage":["https://openalex.org/I104854061"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"O. Santos","raw_affiliation_strings":["Universidad Aut\u00f3noma del Estado de Hidalgo, Pachuca, Hidalgo, Mexico"],"affiliations":[{"raw_affiliation_string":"Universidad Aut\u00f3noma del Estado de Hidalgo, Pachuca, Hidalgo, Mexico","institution_ids":["https://openalex.org/I104854061"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101627181","display_name":"P. Castillo","orcid":"https://orcid.org/0000-0001-8324-8762"},"institutions":[{"id":"https://openalex.org/I102516824","display_name":"Universit\u00e9 de Technologie de Compi\u00e8gne","ror":"https://ror.org/04y5kwa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I102516824"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"P. Castillo","raw_affiliation_strings":["Heudiasyc Laboratory UMR 7253, Universit\u00e9 de Technologie de Compi\u00e8gne, Compiegne, France"],"affiliations":[{"raw_affiliation_string":"Heudiasyc Laboratory UMR 7253, Universit\u00e9 de Technologie de Compi\u00e8gne, Compiegne, France","institution_ids":["https://openalex.org/I102516824"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073434972","display_name":"I. Fantoni","orcid":null},"institutions":[{"id":"https://openalex.org/I102516824","display_name":"Universit\u00e9 de Technologie de Compi\u00e8gne","ror":"https://ror.org/04y5kwa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I102516824"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"I. Fantoni","raw_affiliation_strings":["Heudiasyc Laboratory UMR 7253, Universit\u00e9 de Technologie de Compi\u00e8gne, Compiegne, France"],"affiliations":[{"raw_affiliation_string":"Heudiasyc Laboratory UMR 7253, Universit\u00e9 de Technologie de Compi\u00e8gne, Compiegne, France","institution_ids":["https://openalex.org/I102516824"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5105524871"],"corresponding_institution_ids":["https://openalex.org/I102516824"],"apc_list":null,"apc_paid":null,"fwci":1.0099,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.82216683,"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":"1177","last_page":"1182"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994000196456909,"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":0.9994000196456909,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9990000128746033,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9987999796867371,"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/control-theory","display_name":"Control theory (sociology)","score":0.7635480165481567},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.7627914547920227},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6715782880783081},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6441009044647217},{"id":"https://openalex.org/keywords/control-lyapunov-function","display_name":"Control-Lyapunov function","score":0.5818607807159424},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5571277141571045},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.5350407958030701},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5304426550865173},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.529862105846405},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5294608473777771},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5226802229881287},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5045324563980103},{"id":"https://openalex.org/keywords/nonlinear-control","display_name":"Nonlinear control","score":0.47530803084373474},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4734991192817688},{"id":"https://openalex.org/keywords/lyapunov-redesign","display_name":"Lyapunov redesign","score":0.40777045488357544},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3053284287452698},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.2931811213493347},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21515130996704102},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0746743381023407},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.061682313680648804}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7635480165481567},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.7627914547920227},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6715782880783081},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6441009044647217},{"id":"https://openalex.org/C201030206","wikidata":"https://www.wikidata.org/wiki/Q5165805","display_name":"Control-Lyapunov function","level":5,"score":0.5818607807159424},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5571277141571045},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.5350407958030701},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5304426550865173},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.529862105846405},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5294608473777771},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5226802229881287},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5045324563980103},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.47530803084373474},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4734991192817688},{"id":"https://openalex.org/C37935115","wikidata":"https://www.wikidata.org/wiki/Q6707085","display_name":"Lyapunov redesign","level":4,"score":0.40777045488357544},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3053284287452698},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2931811213493347},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21515130996704102},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0746743381023407},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.061682313680648804},{"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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2013.6579995","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2013.6579995","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8799999952316284}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W109168792","https://openalex.org/W1489877925","https://openalex.org/W1576721254","https://openalex.org/W1995751706","https://openalex.org/W2039091159","https://openalex.org/W2102040002","https://openalex.org/W2109920799","https://openalex.org/W2111216404","https://openalex.org/W2112166125","https://openalex.org/W2124838681","https://openalex.org/W2131692463","https://openalex.org/W2136064325","https://openalex.org/W2139349757","https://openalex.org/W2141666765","https://openalex.org/W2164547576","https://openalex.org/W2167840811","https://openalex.org/W2171044757","https://openalex.org/W2796471654","https://openalex.org/W3151369187","https://openalex.org/W4295133295","https://openalex.org/W6604380276","https://openalex.org/W6629277267","https://openalex.org/W6676713472"],"related_works":["https://openalex.org/W3217133416","https://openalex.org/W2349796700","https://openalex.org/W1970635650","https://openalex.org/W2475132469","https://openalex.org/W2126112326","https://openalex.org/W1976574339","https://openalex.org/W2383986032","https://openalex.org/W2892659929","https://openalex.org/W2768211693","https://openalex.org/W4230398471"],"abstract_inverted_index":{"A":[0],"sub-optimal":[1],"feedback":[2],"control":[3,28,73],"to":[4],"stabilize":[5],"a":[6,36],"quadrotor":[7],"vehicle":[8],"is":[9,30,55],"introduced":[10],"in":[11],"this":[12],"paper.":[13],"The":[14,27],"approach":[15],"makes":[16],"use":[17],"of":[18,35,58],"the":[19,23,33,44,48,52,59,64,72],"passivity":[20],"property":[21],"and":[22],"dynamic":[24],"programming":[25],"theory.":[26],"design":[29],"based":[31],"on":[32],"proposition":[34],"Lyapunov":[37],"function":[38,46,61],"which":[39],"has":[40],"been":[41,78],"defined":[42],"as":[43],"energetic":[45],"for":[47,67],"system":[49],"and,":[50],"at":[51],"same":[53],"time,":[54],"an":[56],"approximation":[57],"Bellman":[60],"associated":[62],"with":[63],"optimal":[65],"problem":[66],"nonlinear":[68],"systems.":[69],"To":[70],"validate":[71],"strategy,":[74],"various":[75],"simulations":[76],"have":[77],"carried":[79],"out.":[80]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}
