{"id":"https://openalex.org/W3111271212","doi":"https://doi.org/10.1109/access.2020.3043363","title":"Attitude Tracking Control of Small-Scale Unmanned Helicopters Using Quaternion-Based Adaptive Dynamic Surface Control","display_name":"Attitude Tracking Control of Small-Scale Unmanned Helicopters Using Quaternion-Based Adaptive Dynamic Surface Control","publication_year":2020,"publication_date":"2020-12-10","ids":{"openalex":"https://openalex.org/W3111271212","doi":"https://doi.org/10.1109/access.2020.3043363","mag":"3111271212"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3043363","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3043363","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09288735.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09288735.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037804712","display_name":"Xiaojun Duan","orcid":"https://orcid.org/0000-0003-0727-5333"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaojun Duan","raw_affiliation_strings":["National Key Laboratory of UAV Technology, Northwestern Polytechnical University, Xi\u2019an, China","National Key Laboratory of UAV Technology, Northwestern Polytechnical University, Xi'an, China"],"raw_orcid":"https://orcid.org/0000-0003-0727-5333","affiliations":[{"raw_affiliation_string":"National Key Laboratory of UAV Technology, Northwestern Polytechnical University, Xi\u2019an, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"National Key Laboratory of UAV Technology, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103177198","display_name":"Chao Yue","orcid":"https://orcid.org/0000-0001-8285-4445"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Yue","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi\u2019an, China","School of Automation, Northwestern Polytechnical University, Xi'an, China"],"raw_orcid":"https://orcid.org/0000-0001-8285-4445","affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi\u2019an, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100773180","display_name":"Huiying Liu","orcid":"https://orcid.org/0000-0002-6405-1187"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huiying Liu","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi\u2019an, China","School of Automation, Northwestern Polytechnical University, Xi'an, China"],"raw_orcid":"https://orcid.org/0000-0002-6405-1187","affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi\u2019an, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021289282","display_name":"Huijuan Guo","orcid":"https://orcid.org/0000-0002-3455-1682"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huijuan Guo","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi\u2019an, China","School of Automation, Northwestern Polytechnical University, Xi'an, China"],"raw_orcid":"https://orcid.org/0000-0002-3455-1682","affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi\u2019an, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100635096","display_name":"Fan Zhang","orcid":"https://orcid.org/0000-0002-2478-4722"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fan Zhang","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi\u2019an, China","School of Automation, Northwestern Polytechnical University, Xi'an, China"],"raw_orcid":"https://orcid.org/0000-0002-2478-4722","affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi\u2019an, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5037804712"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.6367,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.84019037,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"9","issue":null,"first_page":"10153","last_page":"10165"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":1.0,"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":1.0,"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.9945999979972839,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9940000176429749,"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/quaternion","display_name":"Quaternion","score":0.928109347820282},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.8311944007873535},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6036199331283569},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5665425062179565},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5568317174911499},{"id":"https://openalex.org/keywords/unmanned-surface-vehicle","display_name":"Unmanned surface vehicle","score":0.5487481355667114},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.519011378288269},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.45155298709869385},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44881290197372437},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4106367230415344},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.33656591176986694},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22426572442054749},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21967670321464539},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16599050164222717},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.09462878108024597},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08926710486412048}],"concepts":[{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.928109347820282},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.8311944007873535},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6036199331283569},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5665425062179565},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5568317174911499},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.5487481355667114},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.519011378288269},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.45155298709869385},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44881290197372437},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4106367230415344},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.33656591176986694},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22426572442054749},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21967670321464539},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16599050164222717},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.09462878108024597},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08926710486412048},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3043363","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3043363","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09288735.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:86a1dda3bf5f46ea937e50e7c92ffd81","is_oa":true,"landing_page_url":"https://doaj.org/article/86a1dda3bf5f46ea937e50e7c92ffd81","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 9, Pp 10153-10165 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3043363","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3043363","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09288735.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.4300000071525574,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309475","display_name":"Northwestern University","ror":"https://ror.org/000e0be47"},{"id":"https://openalex.org/F4320321392","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3111271212.pdf","grobid_xml":"https://content.openalex.org/works/W3111271212.grobid-xml"},"referenced_works_count":45,"referenced_works":["https://openalex.org/W1127426264","https://openalex.org/W1480635300","https://openalex.org/W1508157366","https://openalex.org/W1575685434","https://openalex.org/W2021183670","https://openalex.org/W2023871984","https://openalex.org/W2026447021","https://openalex.org/W2044987129","https://openalex.org/W2048694956","https://openalex.org/W2049933349","https://openalex.org/W2051154828","https://openalex.org/W2052575571","https://openalex.org/W2075833122","https://openalex.org/W2097020018","https://openalex.org/W2102057409","https://openalex.org/W2104797388","https://openalex.org/W2114695553","https://openalex.org/W2115361194","https://openalex.org/W2124308301","https://openalex.org/W2126578616","https://openalex.org/W2129992565","https://openalex.org/W2138458403","https://openalex.org/W2143918720","https://openalex.org/W2158937265","https://openalex.org/W2168097327","https://openalex.org/W2171541961","https://openalex.org/W2328850616","https://openalex.org/W2536057966","https://openalex.org/W2743925047","https://openalex.org/W2768254723","https://openalex.org/W2878851950","https://openalex.org/W2905649573","https://openalex.org/W2913169623","https://openalex.org/W2950989612","https://openalex.org/W2968930502","https://openalex.org/W2974430906","https://openalex.org/W2998050275","https://openalex.org/W3016324237","https://openalex.org/W3023973213","https://openalex.org/W3029822206","https://openalex.org/W3046922276","https://openalex.org/W3080324988","https://openalex.org/W3084819653","https://openalex.org/W3093811753","https://openalex.org/W6766466289"],"related_works":["https://openalex.org/W2370734581","https://openalex.org/W2368484960","https://openalex.org/W4309462258","https://openalex.org/W2094011599","https://openalex.org/W1541746961","https://openalex.org/W2892019095","https://openalex.org/W2163045496","https://openalex.org/W1482547037","https://openalex.org/W4403937391","https://openalex.org/W4366779513"],"abstract_inverted_index":{"In":[0],"this":[1,143,156],"paper,":[2],"a":[3,32,44],"quaternion-based":[4,33],"adaptive":[5],"dynamic":[6,54,96],"surface":[7,55,97],"control":[8,15,56,105,157],"method":[9,57,135],"is":[10,29,37,71,122],"proposed":[11,134],"for":[12,16],"attitude":[13,41,144],"tracking":[14],"small-scale":[17,45],"unmanned":[18],"helicopters":[19],"with":[20,82],"external":[21,120],"disturbance":[22,121],"and":[23,31,85,151],"uncertain":[24,117],"dynamics.":[25,118],"The":[26,47,68,119],"quaternion":[27,83,88],"formalism":[28],"introduced":[30],"multi-input-multi-output":[34],"nonlinear":[35,80],"model":[36,81],"derived":[38],"from":[39],"the":[40,53,61,64,79,87,91,95,101,104,107,116,126,133,138,153],"dynamics":[42],"of":[43,63,66,94,103,142,155],"helicopter.":[46],"low-complexity":[48],"controllers":[49],"are":[50,112,148],"designed":[51],"by":[52,73],"as":[58],"it":[59],"eliminates":[60],"problem":[62,70],"explosion":[65],"items.":[67],"singularity":[69],"avoided":[72],"substituting":[74],"Euler":[75],"kinematic":[76],"equations":[77],"in":[78,125],"expressions":[84,89],"integrating":[86],"into":[90],"design":[92],"process":[93],"control.":[98],"For":[99],"improving":[100],"robustness":[102],"system,":[106],"radial":[108],"basis":[109],"function":[110],"networks":[111],"applied":[113],"to":[114],"approximate":[115],"also":[123],"compensated":[124],"controllers'":[127],"design.":[128],"This":[129],"paper":[130],"proves":[131],"that":[132],"can":[136],"guarantee":[137],"uniformly":[139],"ultimate":[140],"boundness":[141],"system.":[145],"Simulation":[146],"results":[147],"presented":[149],"finally":[150],"show":[152],"effectiveness":[154],"approach.":[158]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
