{"id":"https://openalex.org/W3048339242","doi":"https://doi.org/10.1109/aim43001.2020.9158910","title":"Modeling, Identification, and Control of Non-minimum Phase Dynamics of Bi-copter UAVs","display_name":"Modeling, Identification, and Control of Non-minimum Phase Dynamics of Bi-copter UAVs","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3048339242","doi":"https://doi.org/10.1109/aim43001.2020.9158910","mag":"3048339242"},"language":"en","primary_location":{"id":"doi:10.1109/aim43001.2020.9158910","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim43001.2020.9158910","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100617804","display_name":"Yihang Li","orcid":"https://orcid.org/0000-0002-7060-9036"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yihang Li","raw_affiliation_strings":["Mechatronics and Robotic Systems (MaRS) Laboratory, University of Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems (MaRS) Laboratory, University of Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074165793","display_name":"Youming Qin","orcid":"https://orcid.org/0000-0002-9057-2461"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Youming Qin","raw_affiliation_strings":["Mechatronics and Robotic Systems (MaRS) Laboratory, University of Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems (MaRS) Laboratory, University of Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040761750","display_name":"Wei Xu","orcid":"https://orcid.org/0000-0001-8005-4372"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wei Xu","raw_affiliation_strings":["Mechatronics and Robotic Systems (MaRS) Laboratory, University of Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems (MaRS) Laboratory, University of Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100460011","display_name":"Fu Zhang","orcid":"https://orcid.org/0000-0002-8636-4168"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Fu Zhang","raw_affiliation_strings":["Mechatronics and Robotic Systems (MaRS) Laboratory, University of Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems (MaRS) Laboratory, University of Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.9362,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.85998012,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1249","last_page":"1255"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T12158","display_name":"Guidance and Control Systems","score":0.9983999729156494,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9955000281333923,"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":0.7272157669067383},{"id":"https://openalex.org/keywords/minimum-phase","display_name":"Minimum phase","score":0.6865379810333252},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.6859786510467529},{"id":"https://openalex.org/keywords/flight-dynamics","display_name":"Flight dynamics","score":0.6846399307250977},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.639029324054718},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.6139723062515259},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5960944890975952},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5711381435394287},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.4873717427253723},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.47816282510757446},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.46431586146354675},{"id":"https://openalex.org/keywords/system-identification","display_name":"System identification","score":0.4500296115875244},{"id":"https://openalex.org/keywords/servomechanism","display_name":"Servomechanism","score":0.42277902364730835},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2916467487812042},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2710994482040405},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.19827616214752197},{"id":"https://openalex.org/keywords/data-modeling","display_name":"Data modeling","score":0.18232059478759766},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1206716001033783},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.11558407545089722},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08037400245666504},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.07194960117340088}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7272157669067383},{"id":"https://openalex.org/C170263048","wikidata":"https://www.wikidata.org/wiki/Q489593","display_name":"Minimum phase","level":3,"score":0.6865379810333252},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.6859786510467529},{"id":"https://openalex.org/C206923515","wikidata":"https://www.wikidata.org/wiki/Q5459269","display_name":"Flight dynamics","level":3,"score":0.6846399307250977},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.639029324054718},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6139723062515259},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5960944890975952},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5711381435394287},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.4873717427253723},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.47816282510757446},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.46431586146354675},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.4500296115875244},{"id":"https://openalex.org/C49503481","wikidata":"https://www.wikidata.org/wiki/Q640815","display_name":"Servomechanism","level":2,"score":0.42277902364730835},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2916467487812042},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2710994482040405},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.19827616214752197},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.18232059478759766},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1206716001033783},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.11558407545089722},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08037400245666504},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.07194960117340088},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"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/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/aim43001.2020.9158910","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim43001.2020.9158910","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},{"id":"pmh:oai:hub.hku.hk:10722/287899","is_oa":false,"landing_page_url":"https://hub.hku.hk/handle/10722/287899","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference_Paper"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-159610","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-159610","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.6000000238418579,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1508565833","https://openalex.org/W1582351919","https://openalex.org/W1807047624","https://openalex.org/W1973734421","https://openalex.org/W2011700425","https://openalex.org/W2025416448","https://openalex.org/W2025864680","https://openalex.org/W2044108413","https://openalex.org/W2071069134","https://openalex.org/W2072462498","https://openalex.org/W2093079549","https://openalex.org/W2095906130","https://openalex.org/W2137359358","https://openalex.org/W2169132460","https://openalex.org/W2169931345","https://openalex.org/W2239273850","https://openalex.org/W2558571059","https://openalex.org/W3008672204","https://openalex.org/W7000758819"],"related_works":["https://openalex.org/W2368499869","https://openalex.org/W2323946670","https://openalex.org/W2066544982","https://openalex.org/W2035197723","https://openalex.org/W2135497077","https://openalex.org/W2009906306","https://openalex.org/W3048339242","https://openalex.org/W2785864619","https://openalex.org/W2189300986","https://openalex.org/W2184803328"],"abstract_inverted_index":{"Bi-copter":[0],"UAVs":[1],"have":[2],"emerged":[3],"as":[4],"more":[5,18],"agile":[6],"and":[7,44,83,88,111,128],"energetically":[8],"efficient":[9],"flying":[10],"platforms":[11],"than":[12],"quadrotor":[13],"UAVs.":[14],"Yet,":[15],"they":[16],"are":[17,79,121],"challenging":[19],"to":[20,23,30,86,123],"control":[21,45],"due":[22],"the":[24,41,59,65,68,76,125,129,132],"use":[25],"of":[26,46,67,75,131],"servo":[27],"motors":[28],"leading":[29],"non-minimum":[31,48,69,134],"phase":[32,49,70,135],"roll":[33],"dynamics.":[34],"In":[35],"this":[36],"paper,":[37],"we":[38],"systematically":[39],"investigate":[40],"modeling,":[42],"identification,":[43],"such":[47],"dynamics":[50],"in":[51],"an":[52],"integrated":[53],"way.":[54],"We":[55],"start":[56],"with":[57],"deriving":[58],"first":[60],"principle":[61],"model,":[62],"from":[63],"which":[64],"cause":[66],"is":[71,106],"clearly":[72],"seen.":[73],"Parameters":[74],"derived":[77],"model":[78],"identified":[80],"via":[81,95],"experiments":[82],"subsequently":[84],"used":[85],"design":[87],"analyze":[89],"a":[90,114],"high-gain":[91],"robust":[92],"flight":[93,119],"controller":[94,105],"H":[96],"<inf":[97],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[98],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u221e</inf>":[99],"loop":[100],"shaping":[101],"techniques.":[102],"The":[103],"designed":[104],"implemented":[107],"on":[108],"actual":[109],"systems":[110],"compared":[112],"against":[113],"well-tuned":[115],"PID":[116],"controller.":[117],"Extensive":[118],"tests":[120],"conducted":[122],"verify":[124],"controller\u2019s":[126],"effectiveness":[127],"effect":[130],"system\u2019s":[133],"nature.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}