{"id":"https://openalex.org/W4412352761","doi":"https://doi.org/10.1109/access.2025.3588128","title":"Fault-Tolerant Control of a Quadrotor Unmanned Aerial Vehicle With Single Rotor Failure in Dense Obstacle Environments","display_name":"Fault-Tolerant Control of a Quadrotor Unmanned Aerial Vehicle With Single Rotor Failure in Dense Obstacle Environments","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4412352761","doi":"https://doi.org/10.1109/access.2025.3588128"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3588128","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3588128","pdf_url":null,"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://doi.org/10.1109/access.2025.3588128","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101804924","display_name":"Xun Gu","orcid":"https://orcid.org/0009-0005-3026-4191"},"institutions":[{"id":"https://openalex.org/I4210116001","display_name":"Guiyang University","ror":"https://ror.org/025edj240","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210116001"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xun Gu","raw_affiliation_strings":["School of Electronic and Information Engineering, Guiyang University, Guiyang, China","School of Electronic and Information Engineering, Guiyang University, Guiyang, People’s Republic of China"],"raw_orcid":"https://orcid.org/0009-0005-3026-4191","affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Guiyang University, Guiyang, China","institution_ids":["https://openalex.org/I4210116001"]},{"raw_affiliation_string":"School of Electronic and Information Engineering, Guiyang University, Guiyang, People’s Republic of China","institution_ids":["https://openalex.org/I4210116001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048173227","display_name":"Pengbo Wang","orcid":"https://orcid.org/0000-0001-7419-490X"},"institutions":[{"id":"https://openalex.org/I4210116001","display_name":"Guiyang University","ror":"https://ror.org/025edj240","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210116001"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengbo Wang","raw_affiliation_strings":["School of Electronic and Information Engineering, Guiyang University, Guiyang, China","School of Electronic and Information Engineering, Guiyang University, Guiyang, People’s Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Guiyang University, Guiyang, China","institution_ids":["https://openalex.org/I4210116001"]},{"raw_affiliation_string":"School of Electronic and Information Engineering, Guiyang University, Guiyang, People’s Republic of China","institution_ids":["https://openalex.org/I4210116001"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089404454","display_name":"Tao L\u00fc","orcid":"https://orcid.org/0000-0001-8117-2012"},"institutions":[{"id":"https://openalex.org/I4210116001","display_name":"Guiyang University","ror":"https://ror.org/025edj240","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210116001"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Lu","raw_affiliation_strings":["School of Electronic and Information Engineering, Guiyang University, Guiyang, China","School of Electronic and Information Engineering, Guiyang University, Guiyang, People’s Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Guiyang University, Guiyang, China","institution_ids":["https://openalex.org/I4210116001"]},{"raw_affiliation_string":"School of Electronic and Information Engineering, Guiyang University, Guiyang, People’s Republic of China","institution_ids":["https://openalex.org/I4210116001"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210116001"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.5558,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.83630055,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"13","issue":null,"first_page":"129803","last_page":"129813"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9804999828338623,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9804999828338623,"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":0.9768000245094299,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9549999833106995,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/obstacle","display_name":"Obstacle","score":0.7321759462356567},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.6015021204948425},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5609973073005676},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.5090681910514832},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.48237624764442444},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.4148849844932556},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39324167370796204},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.37498894333839417},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.35804852843284607},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32491615414619446},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23532316088676453},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22148483991622925},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16258472204208374},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.13031327724456787},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.1294553279876709},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11071270704269409},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.08683928847312927},{"id":"https://openalex.org/keywords/seismology","display_name":"Seismology","score":0.06225559115409851}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7321759462356567},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.6015021204948425},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5609973073005676},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.5090681910514832},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.48237624764442444},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.4148849844932556},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39324167370796204},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.37498894333839417},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.35804852843284607},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32491615414619446},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23532316088676453},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22148483991622925},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16258472204208374},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.13031327724456787},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1294553279876709},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11071270704269409},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.08683928847312927},{"id":"https://openalex.org/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","level":1,"score":0.06225559115409851},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3588128","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3588128","pdf_url":null,"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:558596e6614a42f48f8698996716434c","is_oa":true,"landing_page_url":"https://doaj.org/article/558596e6614a42f48f8698996716434c","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 13, Pp 129803-129813 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3588128","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3588128","pdf_url":null,"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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2794103424","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W4245435724","https://openalex.org/W2071768959","https://openalex.org/W2055301889","https://openalex.org/W4400979532","https://openalex.org/W2350459724"],"abstract_inverted_index":{"Due":[0],"to":[1,23,28,50,72,92,102],"the":[2,9,33,57,66,115,126,133,141,165],"motor":[3],"degradation":[4],"from":[5],"long-term":[6],"flight":[7,173],"and":[8,75,94,148],"underactuated":[10],"dynamics":[11],"of":[12,35,56,125],"quadrotor":[13,58],"unmanned":[14],"aerial":[15],"vehicles":[16],"(UAV),":[17],"rotor":[18,38,63],"failures":[19],"are":[20],"more":[21],"likely":[22],"occur,":[24],"posing":[25],"significant":[26],"challenges":[27],"stable":[29],"flight.":[30],"To":[31,82],"address":[32],"impact":[34],"a":[36,41,61,85,109],"single":[37,62],"completely":[39,64],"failure,":[40,65],"quaternion-based":[42],"decoupled":[43],"degraded":[44,71],"fault-tolerant":[45],"control":[46,68,143,166],"strategy":[47,144],"is":[48,69,90,121,129,168],"proposed":[49,142],"ensure":[51],"accurate":[52],"trajectory":[53],"tracking":[54],"performance":[55],"UAV.":[59],"When":[60],"attitude":[67,76],"intentionally":[70],"retain":[73],"altitude":[74],"regulation":[77],"capabilities":[78],"in":[79,106,158],"complex":[80,159],"environments.":[81,160],"enhance":[83],"robustness,":[84],"sliding":[86],"mode":[87],"observer":[88],"(SMO)":[89],"designed":[91],"estimate":[93],"compensate":[95],"for":[96,170],"external":[97],"unknown":[98],"wind":[99],"disturbances.":[100],"Furthermore,":[101],"enable":[103],"obstacle":[104],"avoidance":[105],"three-dimensional":[107],"environments,":[108],"geometric":[110],"position":[111],"controller":[112],"integrated":[113],"with":[114],"artificial":[116],"potential":[117],"field":[118],"(APF)":[119],"method":[120],"developed.":[122],"The":[123],"stability":[124],"closed-loop":[127],"system":[128],"rigorously":[130],"analyzed":[131],"using":[132],"Lyapunov":[134],"method.":[135],"Numerical":[136],"simulation":[137],"results":[138],"demonstrate":[139],"that":[140,164],"provides":[145],"strong":[146],"robustness":[147],"high-precision":[149],"pose":[150],"tracking,":[151],"even":[152],"under":[153,175],"complete":[154],"single-rotor":[155],"failure":[156],"scenarios":[157],"These":[161],"findings":[162],"suggest":[163],"framework":[167],"suitable":[169],"reliable":[171],"autonomous":[172],"missions":[174],"actuator":[176],"efficiency":[177],"degradation.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-28T02:08:47.144824","created_date":"2025-10-10T00:00:00"}