{"id":"https://openalex.org/W4382998945","doi":"https://doi.org/10.1109/access.2023.3291409","title":"Fault Tolerant Control of a Quadrotor Unmanned Aerial Vehicle Based on Active Disturbance Rejection Control and Two-Stage Kalman Filter","display_name":"Fault Tolerant Control of a Quadrotor Unmanned Aerial Vehicle Based on Active Disturbance Rejection Control and Two-Stage Kalman Filter","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4382998945","doi":"https://doi.org/10.1109/access.2023.3291409"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3291409","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3291409","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10171359.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":null,"license_id":null,"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/ielx7/6287639/6514899/10171359.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113149477","display_name":"Yusheng Du","orcid":null},"institutions":[{"id":"https://openalex.org/I199305430","display_name":"Nantong University","ror":"https://ror.org/02afcvw97","country_code":"CN","type":"education","lineage":["https://openalex.org/I199305430"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yusheng Du","raw_affiliation_strings":["School of Electrical Engineering, Nantong University, Nantong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Nantong University, Nantong, China","institution_ids":["https://openalex.org/I199305430"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037078956","display_name":"Peng Huang","orcid":"https://orcid.org/0000-0003-3699-2948"},"institutions":[{"id":"https://openalex.org/I199305430","display_name":"Nantong University","ror":"https://ror.org/02afcvw97","country_code":"CN","type":"education","lineage":["https://openalex.org/I199305430"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Huang","raw_affiliation_strings":["School of Electrical Engineering, Nantong University, Nantong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Nantong University, Nantong, China","institution_ids":["https://openalex.org/I199305430"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007960838","display_name":"Yun Cheng","orcid":"https://orcid.org/0000-0002-8042-8327"},"institutions":[{"id":"https://openalex.org/I199305430","display_name":"Nantong University","ror":"https://ror.org/02afcvw97","country_code":"CN","type":"education","lineage":["https://openalex.org/I199305430"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun Cheng","raw_affiliation_strings":["School of Electrical Engineering, Nantong University, Nantong, China"],"raw_orcid":"https://orcid.org/0000-0002-8042-8327","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Nantong University, Nantong, China","institution_ids":["https://openalex.org/I199305430"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077670093","display_name":"Yunlei Fan","orcid":null},"institutions":[{"id":"https://openalex.org/I199305430","display_name":"Nantong University","ror":"https://ror.org/02afcvw97","country_code":"CN","type":"education","lineage":["https://openalex.org/I199305430"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunlei Fan","raw_affiliation_strings":["School of Electrical Engineering, Nantong University, Nantong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Nantong University, Nantong, China","institution_ids":["https://openalex.org/I199305430"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101184091","display_name":"Yinlong Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I199305430","display_name":"Nantong University","ror":"https://ror.org/02afcvw97","country_code":"CN","type":"education","lineage":["https://openalex.org/I199305430"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yinlong Yuan","raw_affiliation_strings":["School of Electrical Engineering, Nantong University, Nantong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Nantong University, Nantong, China","institution_ids":["https://openalex.org/I199305430"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I199305430"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":4.5862,"has_fulltext":true,"cited_by_count":27,"citation_normalized_percentile":{"value":0.95356958,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"11","issue":null,"first_page":"67556","last_page":"67566"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T10876","display_name":"Fault Detection and Control 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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9947999715805054,"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":0.8732215166091919},{"id":"https://openalex.org/keywords/active-disturbance-rejection-control","display_name":"Active disturbance rejection control","score":0.7220510840415955},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6206292510032654},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6052826046943665},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.5421202778816223},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5376386046409607},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.53718101978302},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.5216079950332642},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.5016911029815674},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4775006175041199},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4630261957645416},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.45479917526245117},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.4335968494415283},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.43004098534584045},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.42430436611175537},{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.420074462890625},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41960662603378296},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4135285019874573},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2750057578086853},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23773175477981567},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12906011939048767}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8732215166091919},{"id":"https://openalex.org/C2778072542","wikidata":"https://www.wikidata.org/wiki/Q4677499","display_name":"Active disturbance rejection control","level":4,"score":0.7220510840415955},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6206292510032654},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6052826046943665},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.5421202778816223},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5376386046409607},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.53718101978302},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.5216079950332642},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.5016911029815674},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4775006175041199},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4630261957645416},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.45479917526245117},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.4335968494415283},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.43004098534584045},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.42430436611175537},{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.420074462890625},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41960662603378296},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4135285019874573},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2750057578086853},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23773175477981567},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12906011939048767},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"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/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.0},{"id":"https://openalex.org/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","level":1,"score":0.0},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2023.3291409","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3291409","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10171359.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:fc883d30cd5e4f53965b211c00da62c5","is_oa":true,"landing_page_url":"https://doaj.org/article/fc883d30cd5e4f53965b211c00da62c5","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 11, Pp 67556-67566 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3291409","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3291409","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10171359.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G196413137","display_name":null,"funder_award_id":"KYCX22_3348","funder_id":"https://openalex.org/F4320335769","funder_display_name":"Graduate Research and Innovation Projects of Jiangsu Province"},{"id":"https://openalex.org/G5707286148","display_name":null,"funder_award_id":"62073180","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7655721519","display_name":null,"funder_award_id":"21KJB120009","funder_id":"https://openalex.org/F4320335440","funder_display_name":"Natural Science Research of Jiangsu Higher Education Institutions of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321605","display_name":"Government of Jiangsu Province","ror":"https://ror.org/004svx814"},{"id":"https://openalex.org/F4320335440","display_name":"Natural Science Research of Jiangsu Higher Education Institutions of China","ror":null},{"id":"https://openalex.org/F4320335769","display_name":"Graduate Research and Innovation Projects of Jiangsu Province","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4382998945.pdf","grobid_xml":"https://content.openalex.org/works/W4382998945.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W611710498","https://openalex.org/W1597576211","https://openalex.org/W1973734421","https://openalex.org/W2028714018","https://openalex.org/W2044861271","https://openalex.org/W2087050671","https://openalex.org/W2135493101","https://openalex.org/W2151880885","https://openalex.org/W2552317234","https://openalex.org/W2561257242","https://openalex.org/W2592856010","https://openalex.org/W2793449108","https://openalex.org/W2895824696","https://openalex.org/W2896803288","https://openalex.org/W2900162782","https://openalex.org/W2910354109","https://openalex.org/W2977161599","https://openalex.org/W3002591267","https://openalex.org/W3003712617","https://openalex.org/W3007081655","https://openalex.org/W3066362059","https://openalex.org/W3108569892","https://openalex.org/W3135804031","https://openalex.org/W3159952834","https://openalex.org/W3161909349","https://openalex.org/W4205772364","https://openalex.org/W4221016728","https://openalex.org/W4229056794","https://openalex.org/W4285731564","https://openalex.org/W4304127804","https://openalex.org/W4312803619","https://openalex.org/W4313855634","https://openalex.org/W4318476383"],"related_works":["https://openalex.org/W3005794615","https://openalex.org/W2371607343","https://openalex.org/W4214864300","https://openalex.org/W2968615459","https://openalex.org/W3049669045","https://openalex.org/W2992140559","https://openalex.org/W3098571475","https://openalex.org/W2993161402","https://openalex.org/W4302283998","https://openalex.org/W2319532081"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,16,46,51,54,66,70,80,87,90,96,99,102,105,111,122,130,147,150],"fault":[4,19,48],"tolerant":[5],"control":[6,31,119],"problem":[7],"of":[8,53,69,89,98,104,149],"a":[9,26,35,57,143],"quadrotor":[10],"unmanned":[11],"aerial":[12],"vehicle":[13],"(UAV)":[14],"with":[15,34,116],"actuator":[17],"loss-of-effectiveness":[18,47],"and":[20,50,101,136,140],"measurement":[21],"noise.":[22],"To":[23],"this":[24],"end,":[25],"cascade":[27],"active":[28],"disturbance":[29,63,137],"rejection":[30,138],"(ADRC)":[32],"strategy":[33,113,132],"two-stage":[36],"Kalman":[37],"filter":[38],"(TSKF)":[39],"is":[40,77,114],"proposed.":[41],"The":[42,125],"TSKF":[43],"can":[44],"estimate":[45],"factor":[49,91],"state":[52,74],"UAV":[55,151],"in":[56,79,121,146],"noisy":[58],"environment.":[59],"Considering":[60],"that":[61,129],"unknown":[62],"will":[64],"influence":[65,88],"estimation":[67,92],"accuracy":[68],"TSKF,":[71],"an":[72],"extended":[73],"observer":[75],"(ESO)":[76],"designed":[78],"ADRC":[81],"controller":[82],"to":[83],"further":[84],"compensate":[85],"for":[86],"error.":[93],"In":[94],"addition,":[95],"convergence":[97],"ESO":[100],"stability":[103,135],"closed-loop":[106],"system":[107],"are":[108],"analyzed.":[109],"Finally,":[110],"proposed":[112,131],"compared":[115],"several":[117],"traditional":[118],"methods":[120],"simulation":[123,126],"experiments.":[124],"results":[127],"show":[128],"has":[133,142],"good":[134],"performance,":[139],"it":[141],"clear":[144],"potential":[145],"application":[148],"flight":[152],"control.":[153]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}