{"id":"https://openalex.org/W4312259950","doi":"https://doi.org/10.1109/access.2022.3214810","title":"Improved Performance in Quadrotor Trajectory Tracking Using MIMO PI\u03bb-D Control","display_name":"Improved Performance in Quadrotor Trajectory Tracking Using MIMO PI\u03bb-D Control","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4312259950","doi":"https://doi.org/10.1109/access.2022.3214810"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3214810","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3214810","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09919806.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/ielx7/6287639/6514899/09919806.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043486967","display_name":"Vivek Pawan Shankaran","orcid":"https://orcid.org/0000-0001-9359-8619"},"institutions":[{"id":"https://openalex.org/I44666525","display_name":"University of the South Pacific","ror":"https://ror.org/008stv805","country_code":"FJ","type":"education","lineage":["https://openalex.org/I44666525"]}],"countries":["FJ"],"is_corresponding":false,"raw_author_name":"Vivek Pawan Shankaran","raw_affiliation_strings":["School of Information Technology, Engineering, Mathematics and Physics, The University of the South Pacific, Laucala Bay, Suva, Fiji"],"raw_orcid":"https://orcid.org/0000-0001-9359-8619","affiliations":[{"raw_affiliation_string":"School of Information Technology, Engineering, Mathematics and Physics, The University of the South Pacific, Laucala Bay, Suva, Fiji","institution_ids":["https://openalex.org/I44666525"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061002265","display_name":"Sheikh Izzal Azid","orcid":"https://orcid.org/0000-0003-1151-0973"},"institutions":[{"id":"https://openalex.org/I44666525","display_name":"University of the South Pacific","ror":"https://ror.org/008stv805","country_code":"FJ","type":"education","lineage":["https://openalex.org/I44666525"]}],"countries":["FJ"],"is_corresponding":false,"raw_author_name":"Sheikh Izzal Azid","raw_affiliation_strings":["School of Information Technology, Engineering, Mathematics and Physics, The University of the South Pacific, Laucala Bay, Suva, Fiji"],"raw_orcid":"https://orcid.org/0000-0003-1151-0973","affiliations":[{"raw_affiliation_string":"School of Information Technology, Engineering, Mathematics and Physics, The University of the South Pacific, Laucala Bay, Suva, Fiji","institution_ids":["https://openalex.org/I44666525"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022918153","display_name":"Utkal Mehta","orcid":"https://orcid.org/0000-0001-8613-2490"},"institutions":[{"id":"https://openalex.org/I44666525","display_name":"University of the South Pacific","ror":"https://ror.org/008stv805","country_code":"FJ","type":"education","lineage":["https://openalex.org/I44666525"]}],"countries":["FJ"],"is_corresponding":false,"raw_author_name":"Utkal Mehta","raw_affiliation_strings":["School of Information Technology, Engineering, Mathematics and Physics, The University of the South Pacific, Laucala Bay, Suva, Fiji"],"raw_orcid":"https://orcid.org/0000-0001-8613-2490","affiliations":[{"raw_affiliation_string":"School of Information Technology, Engineering, Mathematics and Physics, The University of the South Pacific, Laucala Bay, Suva, Fiji","institution_ids":["https://openalex.org/I44666525"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070192940","display_name":"Adriano Fagiolini","orcid":"https://orcid.org/0000-0001-9943-1975"},"institutions":[{"id":"https://openalex.org/I900890020","display_name":"University of Palermo","ror":"https://ror.org/044k9ta02","country_code":"IT","type":"education","lineage":["https://openalex.org/I900890020"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Adriano Fagiolini","raw_affiliation_strings":["Department of Engineering, Mobile & Intelligent Robots@Panormous Laboratory (MIRPALab), University of Palermo, Palermo, Italy"],"raw_orcid":"https://orcid.org/0000-0001-9943-1975","affiliations":[{"raw_affiliation_string":"Department of Engineering, Mobile & Intelligent Robots@Panormous Laboratory (MIRPALab), University of Palermo, Palermo, Italy","institution_ids":["https://openalex.org/I900890020"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.2876,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.78131697,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"10","issue":null,"first_page":"110646","last_page":"110660"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11081","display_name":"Advanced Control Systems Design","score":0.9994999766349792,"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/T11081","display_name":"Advanced Control Systems Design","score":0.9994999766349792,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9970999956130981,"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/T14083","display_name":"Extremum Seeking Control Systems","score":0.9779999852180481,"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/pid-controller","display_name":"PID controller","score":0.7826483249664307},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6788797974586487},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6254063844680786},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5668396949768066},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.547028124332428},{"id":"https://openalex.org/keywords/mimo","display_name":"MIMO","score":0.5307295918464661},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4889878034591675},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.476470947265625},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4727764129638672},{"id":"https://openalex.org/keywords/pi","display_name":"Pi","score":0.46632248163223267},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.29907721281051636},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25933754444122314},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2352544069290161},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15525197982788086},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14744439721107483},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1454194188117981},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.06868571043014526},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.06149536371231079}],"concepts":[{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.7826483249664307},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6788797974586487},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6254063844680786},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5668396949768066},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.547028124332428},{"id":"https://openalex.org/C207987634","wikidata":"https://www.wikidata.org/wiki/Q176862","display_name":"MIMO","level":3,"score":0.5307295918464661},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4889878034591675},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.476470947265625},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4727764129638672},{"id":"https://openalex.org/C53009064","wikidata":"https://www.wikidata.org/wiki/Q167","display_name":"Pi","level":2,"score":0.46632248163223267},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.29907721281051636},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25933754444122314},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2352544069290161},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15525197982788086},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14744439721107483},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1454194188117981},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.06868571043014526},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.06149536371231079},{"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"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/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2022.3214810","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3214810","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09919806.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:22ee4608eef443949fd13a3b4a60f16b","is_oa":true,"landing_page_url":"https://doaj.org/article/22ee4608eef443949fd13a3b4a60f16b","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 10, Pp 110646-110660 (2022)","raw_type":"article"},{"id":"pmh:oai:iris.unipa.it:10447/572705","is_oa":true,"landing_page_url":"https://hdl.handle.net/10447/572705","pdf_url":null,"source":{"id":"https://openalex.org/S4377196289","display_name":"IRIS UniPA (University of Palermo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I900890020","host_organization_name":"University of Palermo","host_organization_lineage":["https://openalex.org/I900890020"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3214810","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3214810","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09919806.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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320318012","display_name":"University of the South Pacific","ror":"https://ror.org/008stv805"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4312259950.pdf","grobid_xml":"https://content.openalex.org/works/W4312259950.grobid-xml"},"referenced_works_count":45,"referenced_works":["https://openalex.org/W1973734421","https://openalex.org/W2003688959","https://openalex.org/W2019770641","https://openalex.org/W2040384773","https://openalex.org/W2105388389","https://openalex.org/W2122123060","https://openalex.org/W2298275666","https://openalex.org/W2311756909","https://openalex.org/W2477921776","https://openalex.org/W2571149404","https://openalex.org/W2575417362","https://openalex.org/W2587368530","https://openalex.org/W2755099144","https://openalex.org/W2767446610","https://openalex.org/W2771073655","https://openalex.org/W2775624328","https://openalex.org/W2781495230","https://openalex.org/W2801511631","https://openalex.org/W2802536764","https://openalex.org/W2805243360","https://openalex.org/W2818868293","https://openalex.org/W2843415492","https://openalex.org/W2886374528","https://openalex.org/W2902439287","https://openalex.org/W2910352829","https://openalex.org/W2913218449","https://openalex.org/W2933004559","https://openalex.org/W2937319155","https://openalex.org/W2939726593","https://openalex.org/W2940656821","https://openalex.org/W2972057980","https://openalex.org/W2996988642","https://openalex.org/W3100220895","https://openalex.org/W3118963146","https://openalex.org/W3123856106","https://openalex.org/W3128648193","https://openalex.org/W3129323611","https://openalex.org/W3157593080","https://openalex.org/W3169654221","https://openalex.org/W3199642219","https://openalex.org/W3209243452","https://openalex.org/W4200207218","https://openalex.org/W4252031641","https://openalex.org/W4283318522","https://openalex.org/W6675979695"],"related_works":["https://openalex.org/W2366352762","https://openalex.org/W2613964090","https://openalex.org/W2030762054","https://openalex.org/W3157618815","https://openalex.org/W2081322886","https://openalex.org/W2380425739","https://openalex.org/W2401345448","https://openalex.org/W255820224","https://openalex.org/W2002388147","https://openalex.org/W2349324463"],"abstract_inverted_index":{"This":[0],"paper":[1],"aims":[2],"to":[3,24],"develop":[4],"a":[5,18,53,96],"fractional":[6],"control":[7,25],"approach":[8],"for":[9],"quadrotor":[10],"trajectory":[11,49],"tracking.":[12],"A":[13],"fractional-order":[14],"integrator":[15],"(PI\u03bb)":[16],"with":[17,82],"feedback":[19,34],"derivative":[20],"scheme":[21,80,94],"is":[22,61,95],"designed":[23,33],"each":[26],"state":[27],"of":[28,77],"the":[29,37,44,57,64,75,78,83],"MIMO":[30],"system.":[31],"The":[32,67,87],"controller":[35,60],"stabilizes":[36],"initially":[38],"unstable":[39],"decoupled":[40],"states":[41],"and":[42,70],"widens":[43],"stability,":[45],"while":[46],"PI\u03bbprovides":[47],"precise":[48],"tracking":[50],"capabilities.":[51],"After":[52],"successful":[54],"simulation":[55],"study,":[56],"new":[58],"PI\u03bb-D":[59],"implemented":[62],"in":[63],"hardware":[65],"environment.":[66],"various":[68],"performance":[69],"load":[71],"disturbance":[72],"analyses":[73],"reveal":[74],"effectiveness":[76],"proposed":[79],"compared":[81],"classical":[84],"PD/PID":[85],"controllers.":[86],"real-time":[88],"study":[89],"also":[90],"shows":[91],"that":[92],"this":[93],"simple":[97],"yet":[98],"robust":[99],"solution.":[100]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}