{"id":"https://openalex.org/W4415821039","doi":"https://doi.org/10.1109/access.2025.3628526","title":"Dual Quaternion-Based Neural Network Control for AAVs: Dynamic Modeling and Trajectory Tracking","display_name":"Dual Quaternion-Based Neural Network Control for AAVs: Dynamic Modeling and Trajectory Tracking","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4415821039","doi":"https://doi.org/10.1109/access.2025.3628526"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3628526","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3628526","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":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://doi.org/10.1109/access.2025.3628526","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015588159","display_name":"\u00c1ngel Suarez","orcid":"https://orcid.org/0000-0002-4151-2307"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"\u00c1ngel Eduardo Zamora Su\u00e1rez","raw_affiliation_strings":["Department of Basic Sciences, Unidad Profesional Interdisciplinaria de Biotecnolog&#x00CD;a, Instituto Polit&#x00E9;cnico Nacional, Mexico City, Mexico","Department of Basic Sciences, Unidad Profesional Interdisciplinaria de Biotecnolog&#x00ED;a, Instituto Polit&#x00E9;cnico Nacional, Mexico City, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-4151-2307","affiliations":[{"raw_affiliation_string":"Department of Basic Sciences, Unidad Profesional Interdisciplinaria de Biotecnolog&#x00CD;a, Instituto Polit&#x00E9;cnico Nacional, Mexico City, Mexico","institution_ids":["https://openalex.org/I59361560"]},{"raw_affiliation_string":"Department of Basic Sciences, Unidad Profesional Interdisciplinaria de Biotecnolog&#x00ED;a, Instituto Polit&#x00E9;cnico Nacional, Mexico City, Mexico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120235583","display_name":"Christian Gerardo Reyes Montiel","orcid":null},"institutions":[{"id":"https://openalex.org/I4210118275","display_name":"Universidad Polit\u00e9cnica Metropolitana de Hidalgo","ror":"https://ror.org/02ne61390","country_code":"MX","type":"education","lineage":["https://openalex.org/I4210118275"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Christian Gerardo Reyes Montiel","raw_affiliation_strings":["Aeronautical Engineering, Universidad Polit&#x00E9;cnica Metropolitana de Hidalgo, Hidalgo, Mexico","Aeronautical Engineering, Universidad Polit&#x00E9;cnica Metropolitana de Hidalgo, Tolcayuca, Hidalgo, Mexico"],"raw_orcid":"https://orcid.org/0000-0001-6098-5823","affiliations":[{"raw_affiliation_string":"Aeronautical Engineering, Universidad Polit&#x00E9;cnica Metropolitana de Hidalgo, Hidalgo, Mexico","institution_ids":["https://openalex.org/I4210118275"]},{"raw_affiliation_string":"Aeronautical Engineering, Universidad Polit&#x00E9;cnica Metropolitana de Hidalgo, Tolcayuca, Hidalgo, Mexico","institution_ids":["https://openalex.org/I4210118275"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022212359","display_name":"Filiberto Mu\u00f1oz","orcid":"https://orcid.org/0000-0003-1274-3496"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Filiberto Mu\u00f1oz Palacios","raw_affiliation_strings":["Department of Investigation and Multidisciplinary Studies, Centro de Investigaci&#x00F3;n y de Estudios Avanzados del Instituto Polit&#x00E9;cnico Nacional, Mexico City, Mexico"],"raw_orcid":"https://orcid.org/0000-0003-1274-3496","affiliations":[{"raw_affiliation_string":"Department of Investigation and Multidisciplinary Studies, Centro de Investigaci&#x00F3;n y de Estudios Avanzados del Instituto Polit&#x00E9;cnico Nacional, Mexico City, Mexico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067912821","display_name":"Hind Taud","orcid":"https://orcid.org/0000-0002-7644-5706"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Hind Taud","raw_affiliation_strings":["Centro de Innovaci&#x00F3;n y Desarrollo Tecnol&#x00F3;gico en C&#x00F3;mputo, Instituto Polit&#x00E9;cnico Nacional, Mexico City, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-7644-5706","affiliations":[{"raw_affiliation_string":"Centro de Innovaci&#x00F3;n y Desarrollo Tecnol&#x00F3;gico en C&#x00F3;mputo, Instituto Polit&#x00E9;cnico Nacional, Mexico City, Mexico","institution_ids":["https://openalex.org/I59361560"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"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":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.3581971,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":null,"first_page":"193293","last_page":"193310"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.840499997138977,"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":0.840499997138977,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.02710000053048134,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.020999999716877937,"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/multirotor","display_name":"Multirotor","score":0.8217999935150146},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7775999903678894},{"id":"https://openalex.org/keywords/dual-quaternion","display_name":"Dual quaternion","score":0.6218000054359436},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5540000200271606},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.545199990272522},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5109000205993652},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.5072000026702881},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.45339998602867126},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4341999888420105},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.41029998660087585}],"concepts":[{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.8217999935150146},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7775999903678894},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6474999785423279},{"id":"https://openalex.org/C145941777","wikidata":"https://www.wikidata.org/wiki/Q5310237","display_name":"Dual quaternion","level":3,"score":0.6218000054359436},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5540000200271606},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.545199990272522},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5109000205993652},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.5072000026702881},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.45339998602867126},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4341999888420105},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.41029998660087585},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.399399995803833},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.39910000562667847},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3986999988555908},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3977999985218048},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.3732999861240387},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3617999851703644},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3481999933719635},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3407000005245209},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.32580000162124634},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.31940001249313354},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.31209999322891235},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.3095000088214874},{"id":"https://openalex.org/C98856871","wikidata":"https://www.wikidata.org/wiki/Q1588488","display_name":"Radial basis function","level":3,"score":0.299699991941452},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2962000072002411},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2766000032424927},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.2766000032424927},{"id":"https://openalex.org/C125750033","wikidata":"https://www.wikidata.org/wiki/Q1146104","display_name":"Gimbal","level":2,"score":0.27219998836517334},{"id":"https://openalex.org/C55689738","wikidata":"https://www.wikidata.org/wiki/Q15963867","display_name":"Discrete time and continuous time","level":2,"score":0.2694999873638153},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.2623000144958496},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.25600001215934753},{"id":"https://openalex.org/C62884695","wikidata":"https://www.wikidata.org/wiki/Q184871","display_name":"Euler's formula","level":2,"score":0.25529998540878296}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3628526","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3628526","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":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:3dd1d237752a4a89886462cc22bc8961","is_oa":true,"landing_page_url":"https://doaj.org/article/3dd1d237752a4a89886462cc22bc8961","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 193293-193310 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3628526","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3628526","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":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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0,150,226],"use":[1],"of":[2,9,34,54,61,93,121,162,206,229,236,250,275,292,301,319],"dual":[3,41,76,106,127,240,251],"quaternions":[4,42],"in":[5,46,58,104,147,210,223,313,322],"the":[6,26,47,59,105,111,118,160,199,211,234,248,266,273,290,297,314],"dynamic":[7,49,78,242,253,286],"modeling":[8,50],"Unmanned":[10],"Aerial":[11],"Vehicles":[12],"(UAVs)":[13],"provides":[14],"an":[15,276],"elegant":[16],"and":[17,30,51,64,87,115,143,159,178,189,264,284,288,304,316,324],"singularity-free":[18],"alternative":[19],"to":[20,97,141,208,281],"Euler":[21],"angle-based":[22],"representations,":[23],"thereby":[24],"eliminating":[25],"gimbal":[27],"lock":[28],"problem":[29],"enabling":[31],"compact":[32],"formulations":[33],"rigid":[35],"body":[36],"motion.":[37],"Despite":[38],"their":[39],"advantages,":[40],"have":[43],"been":[44],"underutilized":[45],"explicit":[48],"control":[52,85,123,137,201,279,318],"design":[53,274],"multirotor":[55,245],"UAVs,":[56],"particularly":[57],"presence":[60],"external":[62,217],"disturbances":[63],"system":[65],"uncertainties.":[66],"To":[67],"bridge":[68],"this":[69,71,230],"gap,":[70],"paper":[72],"introduces":[73],"a":[74,91,130,184,190,195,204,237,293,310],"novel":[75],"quaternion-based":[77,241,252],"model":[79,243],"that":[80],"clearly":[81],"decouples":[82],"Coriolis,":[83],"gravitational,":[84],"input,":[86],"disturbance":[88],"components.":[89],"Additionally,":[90],"set":[92],"mathematical":[94],"identities":[95,254],"analogous":[96],"classical":[98],"matrix-based":[99],"robotic":[100,257],"systems":[101],"is":[102,139,153,166],"derived":[103],"quaternion":[107],"framework,":[108],"which":[109,260],"facilitates":[110],"Lyapunov-based":[112],"stability":[113,262],"analysis":[114],"could":[116],"enable":[117],"future":[119,269],"development":[120,235],"new":[122],"laws":[124],"based":[125,193],"on":[126,194],"quaternions.":[128],"Furthermore,":[129],"radial":[131],"basis":[132],"function":[133],"neural":[134],"network":[135],"(RBFNN)":[136],"strategy":[138,280],"developed":[140],"estimate":[142,283],"reject":[144],"lumped":[145],"uncertainties":[146],"real":[148],"time.":[149],"proposed":[151,200],"method":[152],"rigorously":[154],"analyzed":[155],"using":[156],"Lyapunov":[157],"theory,":[158],"boundedness":[161,300],"all":[163],"closed-loop":[164],"signals":[165],"formally":[167],"established.":[168],"Simulation":[169],"results":[170],"are":[171],"presented":[172],"for":[173,244,268],"three":[174],"trajectory":[175],"tracking":[176,214,303],"scenarios":[177],"benchmarked":[179],"against":[180],"two":[181],"baseline":[182],"controllers:":[183],"conventional":[185],"proportional-derivative":[186],"(PD)":[187],"controller":[188,192,270],"robust":[191,315],"second-order":[196],"filter.":[197],"Quantitatively,":[198],"scheme":[202],"achieves":[203],"reduction":[205],"up":[207],"47.5%":[209],"mean":[212],"squared":[213],"error":[215],"under":[216],"disturbances,":[218],"demonstrating":[219],"its":[220],"superior":[221],"performance":[222],"uncertain":[224],"environments.":[225],"key":[227],"contributions":[228,308],"work":[231],"include:":[232],"(i)":[233],"structurally":[238],"rich":[239],"UAVs;":[246],"(ii)":[247],"derivation":[249,291],"inspired":[255],"by":[256],"matrix":[258],"models,":[259],"simplify":[261],"proofs":[263],"pave":[265],"way":[267],"designs;":[271],"(iii)":[272],"online":[277],"RBFNN-based":[278],"adaptively":[282],"mitigate":[285],"uncertainties;":[287],"(iv)":[289],"formal":[294],"proof":[295],"ensuring":[296],"uniform":[298],"ultimate":[299],"both":[302],"estimation":[305],"errors.":[306],"These":[307],"represent":[309],"significant":[311],"advancement":[312],"efficient":[317],"UAVs":[320],"operating":[321],"nonlinear":[323],"disturbed":[325],"conditions.":[326]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-03T00:00:00"}
