{"id":"https://openalex.org/W4308239567","doi":"https://doi.org/10.1109/case49997.2022.9926730","title":"Real-Time OF-based Trajectory Control of a UAS Rotorcraft Based on Integral Extended-State LQG","display_name":"Real-Time OF-based Trajectory Control of a UAS Rotorcraft Based on Integral Extended-State LQG","publication_year":2022,"publication_date":"2022-08-20","ids":{"openalex":"https://openalex.org/W4308239567","doi":"https://doi.org/10.1109/case49997.2022.9926730"},"language":"en","primary_location":{"id":"doi:10.1109/case49997.2022.9926730","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926730","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","issn_l":"2161-8070","issn":["2161-8070"],"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5055246936","display_name":"Tariq Zioud","orcid":"https://orcid.org/0000-0001-7939-1216"},"institutions":[{"id":"https://openalex.org/I65806277","display_name":"Universit\u00e9 de Limoges","ror":"https://ror.org/02cp04407","country_code":"FR","type":"education","lineage":["https://openalex.org/I65806277"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Tariq Zioud","raw_affiliation_strings":["University of LIMOGES,XLIM Laboratory UMR CNRS 7252,Robotics and Mechatronics Deparment"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of LIMOGES,XLIM Laboratory UMR CNRS 7252,Robotics and Mechatronics Deparment","institution_ids":["https://openalex.org/I65806277"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061404673","display_name":"J. Escare\u00f1o","orcid":"https://orcid.org/0000-0003-4706-7117"},"institutions":[{"id":"https://openalex.org/I65806277","display_name":"Universit\u00e9 de Limoges","ror":"https://ror.org/02cp04407","country_code":"FR","type":"education","lineage":["https://openalex.org/I65806277"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Juan Escareno","raw_affiliation_strings":["University of LIMOGES,XLIM Laboratory UMR CNRS 7252,Robotics and Mechatronics Deparment"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of LIMOGES,XLIM Laboratory UMR CNRS 7252,Robotics and Mechatronics Deparment","institution_ids":["https://openalex.org/I65806277"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5105349543","display_name":"Ouiddad Labbani-Igbida","orcid":"https://orcid.org/0000-0002-6209-6920"},"institutions":[{"id":"https://openalex.org/I65806277","display_name":"Universit\u00e9 de Limoges","ror":"https://ror.org/02cp04407","country_code":"FR","type":"education","lineage":["https://openalex.org/I65806277"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ouiddad Labbani-Igbida","raw_affiliation_strings":["University of LIMOGES,XLIM Laboratory UMR CNRS 7252,Robotics and Mechatronics Deparment"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of LIMOGES,XLIM Laboratory UMR CNRS 7252,Robotics and Mechatronics Deparment","institution_ids":["https://openalex.org/I65806277"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I65806277"],"apc_list":null,"apc_paid":null,"fwci":0.4424,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.51802467,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1423","last_page":"1430"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9965999722480774,"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":0.9965999722480774,"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/T12125","display_name":"Aerospace and Aviation Technology","score":0.9717000126838684,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9663000106811523,"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/linear-quadratic-gaussian-control","display_name":"Linear-quadratic-Gaussian control","score":0.9294494390487671},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8094958066940308},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7322802543640137},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6370980143547058},{"id":"https://openalex.org/keywords/linear-quadratic-regulator","display_name":"Linear-quadratic regulator","score":0.6289501190185547},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5667396783828735},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5109326243400574},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4687742292881012},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.457454115152359},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.447216272354126},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42611169815063477},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28205615282058716},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2057659924030304},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14247232675552368},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.09878700971603394},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09447851777076721}],"concepts":[{"id":"https://openalex.org/C204495892","wikidata":"https://www.wikidata.org/wiki/Q1798304","display_name":"Linear-quadratic-Gaussian control","level":3,"score":0.9294494390487671},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8094958066940308},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7322802543640137},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6370980143547058},{"id":"https://openalex.org/C98779006","wikidata":"https://www.wikidata.org/wiki/Q2520550","display_name":"Linear-quadratic regulator","level":3,"score":0.6289501190185547},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5667396783828735},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5109326243400574},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4687742292881012},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.457454115152359},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.447216272354126},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42611169815063477},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28205615282058716},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2057659924030304},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14247232675552368},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.09878700971603394},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09447851777076721},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/case49997.2022.9926730","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926730","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","issn_l":"2161-8070","issn":["2161-8070"],"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-03838968v1","is_oa":false,"landing_page_url":"https://hal.science/hal-03838968","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE), Aug 2022, Mexico City, Mexico. pp.1423-1430, &#x27E8;10.1109/CASE49997.2022.9926730&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W3777868","https://openalex.org/W2007152535","https://openalex.org/W2051766198","https://openalex.org/W1990910969","https://openalex.org/W2915806395","https://openalex.org/W234468389","https://openalex.org/W3041379944","https://openalex.org/W2067197839","https://openalex.org/W1982825464","https://openalex.org/W2364244763"],"abstract_inverted_index":{"The":[0,36],"actual":[1],"paper":[2],"proposes":[3],"a":[4,26,50,62],"robust":[5],"optimal":[6],"control":[7,71,103],"strategy":[8],"via":[9],"an":[10,42,54,91,95],"Extended-State":[11,43],"Integral":[12],"Linear":[13,44,56],"Quadratic":[14,57],"Gaussian":[15],"(ES-iLQG)":[16],"controller":[17],"meant":[18],"to":[19,24],"drive":[20],"the":[21,66,69,102],"quadrotor":[22],"motion":[23,115],"track":[25],"time-parametrized":[27],"trajectory":[28,74],"in":[29],"presence":[30],"of":[31,68,90],"exogenous":[32],"and":[33,53,94,108],"endogenous":[34],"disturbances.":[35],"herein":[37],"enhanced":[38],"LQG":[39],"controller,":[40],"includes":[41],"Kalman":[45],"Filter":[46],"(ES-LKF)":[47],"utilised":[48],"as":[49],"disturbance":[51],"estimator,":[52],"integral":[55],"Regulator":[58],"(iLQR).":[59],"Results":[60],"from":[61,85],"simulation":[63],"stage":[64],"exhibit":[65],"effectiveness":[67],"proposed":[70],"scheme":[72],"for":[73,113],"tracking":[75,89],"purposes.":[76],"In":[77],"this":[78],"regard,":[79],"promising":[80],"experimental":[81],"results":[82],"were":[83],"obtained":[84],"two":[86],"scenarios:":[87],"Trajectory":[88],"elliptical":[92],"helix-shaped":[93],"8-shaped":[96],"trajectories.":[97],"It":[98],"is":[99,105],"noteworthy":[100],"that":[101],"law":[104],"computed":[106],"onboard":[107],"relies":[109],"on":[110],"optical":[111],"flow":[112],"translational":[114],"control.":[116]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
