{"id":"https://openalex.org/W2996943839","doi":"https://doi.org/10.1109/anzcc47194.2019.8945696","title":"Cascaded Attitude Control For Heterogeneous Multirotor UAS For Enhanced Disturbance Rejection","display_name":"Cascaded Attitude Control For Heterogeneous Multirotor UAS For Enhanced Disturbance Rejection","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2996943839","doi":"https://doi.org/10.1109/anzcc47194.2019.8945696","mag":"2996943839"},"language":"en","primary_location":{"id":"doi:10.1109/anzcc47194.2019.8945696","is_oa":false,"landing_page_url":"https://doi.org/10.1109/anzcc47194.2019.8945696","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 Australian & New Zealand Control Conference (ANZCC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/conference_contribution/Cascaded_attitude_control_for_heterogeneous_multirotor_UAS_for_enhanced_disturbance_rejection/27588969","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037276688","display_name":"Ayaz Ahmed Hoshu","orcid":"https://orcid.org/0000-0003-2882-7483"},"institutions":[{"id":"https://openalex.org/I82951845","display_name":"RMIT University","ror":"https://ror.org/04ttjf776","country_code":"AU","type":"education","lineage":["https://openalex.org/I82951845"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ayaz Ahmed Hoshu","raw_affiliation_strings":["School of Engineering, RMIT University, Melbourne, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, RMIT University, Melbourne, Australia","institution_ids":["https://openalex.org/I82951845"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063261164","display_name":"Alex Fisher","orcid":"https://orcid.org/0000-0001-8215-5230"},"institutions":[{"id":"https://openalex.org/I82951845","display_name":"RMIT University","ror":"https://ror.org/04ttjf776","country_code":"AU","type":"education","lineage":["https://openalex.org/I82951845"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Alex Fisher","raw_affiliation_strings":["School of Engineering, RMIT University, Melbourne, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, RMIT University, Melbourne, Australia","institution_ids":["https://openalex.org/I82951845"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049829177","display_name":"Liuping Wang","orcid":"https://orcid.org/0000-0002-7604-1322"},"institutions":[{"id":"https://openalex.org/I82951845","display_name":"RMIT University","ror":"https://ror.org/04ttjf776","country_code":"AU","type":"education","lineage":["https://openalex.org/I82951845"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Liuping Wang","raw_affiliation_strings":["School of Engineering, RMIT University, Melbourne, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, RMIT University, Melbourne, Australia","institution_ids":["https://openalex.org/I82951845"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I82951845"],"apc_list":null,"apc_paid":null,"fwci":1.7549,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.8474145,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"110","last_page":"115"},"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/T12158","display_name":"Guidance and Control Systems","score":0.9976999759674072,"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.9973999857902527,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/multirotor","display_name":"Multirotor","score":0.9550777077674866},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.7113500237464905},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.705224871635437},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6154648661613464},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45958179235458374},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44981247186660767},{"id":"https://openalex.org/keywords/lift","display_name":"Lift (data mining)","score":0.4488353133201599},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.43844541907310486},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4101225733757019},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40285158157348633},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2948133945465088},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.21684545278549194},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09949514269828796}],"concepts":[{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.9550777077674866},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.7113500237464905},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.705224871635437},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6154648661613464},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45958179235458374},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44981247186660767},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.4488353133201599},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.43844541907310486},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4101225733757019},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40285158157348633},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2948133945465088},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.21684545278549194},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09949514269828796},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/anzcc47194.2019.8945696","is_oa":false,"landing_page_url":"https://doi.org/10.1109/anzcc47194.2019.8945696","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 Australian & New Zealand Control Conference (ANZCC)","raw_type":"proceedings-article"},{"id":"pmh:oai:alma61RMIT.INST:11302963030001341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ANZCC47194.2019.8945696","pdf_url":null,"source":{"id":"https://openalex.org/S4306402074","display_name":"RMIT Research Repository (RMIT University Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82951845","host_organization_name":"RMIT University","host_organization_lineage":["https://openalex.org/I82951845"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceedings"},{"id":"pmh:oai:figshare.com:article/27588969","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Cascaded_attitude_control_for_heterogeneous_multirotor_UAS_for_enhanced_disturbance_rejection/27588969","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"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 contribution"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/27588969","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Cascaded_attitude_control_for_heterogeneous_multirotor_UAS_for_enhanced_disturbance_rejection/27588969","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"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 contribution"},"sustainable_development_goals":[{"score":0.9100000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W164489637","https://openalex.org/W1480277710","https://openalex.org/W1500738884","https://openalex.org/W1542596583","https://openalex.org/W1982663993","https://openalex.org/W2000241419","https://openalex.org/W2064215720","https://openalex.org/W2096282629","https://openalex.org/W2103608534","https://openalex.org/W2183005511","https://openalex.org/W2476537510","https://openalex.org/W2594880973","https://openalex.org/W2680197185","https://openalex.org/W2756177107","https://openalex.org/W2768597329","https://openalex.org/W2802624942","https://openalex.org/W2811105281","https://openalex.org/W3008862071","https://openalex.org/W6606718919","https://openalex.org/W6628553995","https://openalex.org/W6734283240","https://openalex.org/W6752844736"],"related_works":["https://openalex.org/W2728521155","https://openalex.org/W2810775292","https://openalex.org/W3150660900","https://openalex.org/W2556504211","https://openalex.org/W2914097399","https://openalex.org/W2094374960","https://openalex.org/W2968553720","https://openalex.org/W2142040801","https://openalex.org/W2017614802","https://openalex.org/W1963589636"],"abstract_inverted_index":{"Multirotor":[0],"unmanned":[1],"aircraft":[2],"systems":[3],"(UAS)":[4],"have":[5],"enjoyed":[6],"much":[7],"popularity":[8],"of":[9,31,55,92,97,139,157,177],"late":[10],"due":[11],"to":[12,38,88,151],"their":[13],"excellent":[14],"manoeuvrability,":[15],"VTOL":[16],"capability,":[17],"precise":[18],"hovering,":[19],"simple":[20],"deign":[21],"and":[22,34,40,58,71,107,155,172],"satisfactory":[23],"speed.":[24],"But":[25],"they":[26],"do":[27],"lack":[28],"in":[29,103,119,184],"terms":[30],"energy":[32,132],"efficiency":[33,133],"endurance":[35],"when":[36],"compared":[37],"helicopter":[39,57],"fixed":[41],"wing":[42],"counterparts.":[43],"This":[44,142],"paper":[45],"explores":[46],"a":[47,63,108],"heterogeneous":[48],"multirotor":[49,105],"configuration":[50,124],"which":[51,186],"attains":[52],"the":[53,69,90,93,104,140,147,153,158,162],"benefits":[54],"both":[56],"multirotor.":[59],"The":[60,122],"design":[61],"employs":[62],"single":[64,80],"large":[65],"central":[66],"rotor":[67,99],"for":[68,77,115],"lift":[70],"three":[72],"tilted":[73],"small":[74],"boom":[75],"rotors":[76],"control.":[78],"Three":[79],"loop":[81,112],"PI":[82],"cascade":[83],"control":[84,89,111,148,164],"system":[85,149],"is":[86,113,182],"designed":[87],"attitude":[91,137,168],"rotorcraft.":[94],"Motor":[95],"dynamics":[96],"each":[98],"are":[100],"also":[101,183],"considered":[102],"model":[106],"novel":[109],"motor":[110],"implemented":[114],"enhanced":[116],"disturbance":[117,173],"rejection":[118,174],"turblent":[120],"environment.":[121],"presented":[123],"has":[125],"been":[126],"explored":[127],"previously":[128],"mainly":[129,144],"focusing":[130],"on":[131,146],"but":[134],"reported":[135],"degraded":[136],"performance":[138],"UAV.":[141],"work":[143],"focuses":[145],"strategies":[150],"improve":[152],"robustness":[154],"stability":[156],"system.":[159],"We":[160],"demonstrate":[161,188],"proposed":[163],"strategy":[165],"with":[166],"stable":[167],"performance,":[169],"reference":[170],"tracking":[171],"by":[175],"means":[176],"Simulink":[178],"simulation.":[179],"Deigning":[180],"prototype":[181],"progress":[185],"will":[187],"its":[189],"flight.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}