{"id":"https://openalex.org/W2529229285","doi":"https://doi.org/10.1109/cca.2016.7587888","title":"Hybrid acceleration/velocity-based disturbance observer for a quadrotor manipulation system","display_name":"Hybrid acceleration/velocity-based disturbance observer for a quadrotor manipulation system","publication_year":2016,"publication_date":"2016-09-01","ids":{"openalex":"https://openalex.org/W2529229285","doi":"https://doi.org/10.1109/cca.2016.7587888","mag":"2529229285"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2016.7587888","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2016.7587888","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE Conference on Control Applications (CCA)","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/A5101572265","display_name":"Ahmed Khalifa","orcid":"https://orcid.org/0000-0003-2029-8038"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]},{"id":"https://openalex.org/I32619867","display_name":"Egypt-Japan University of Science and Technology","ror":"https://ror.org/02x66tk73","country_code":"EG","type":"education","lineage":["https://openalex.org/I32619867"]}],"countries":["EG","JP"],"is_corresponding":true,"raw_author_name":"Ahmed Khalifa","raw_affiliation_strings":["Department of Mechatronics and Robotics Engineering, Egypt-Japan University of Science and Technology, Alexandria, Egypt","Department of System Design Engineering, Keio University, Yokohama, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechatronics and Robotics Engineering, Egypt-Japan University of Science and Technology, Alexandria, Egypt","institution_ids":["https://openalex.org/I32619867"]},{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027230418","display_name":"Mohamed Fanni","orcid":"https://orcid.org/0000-0002-0455-3257"},"institutions":[{"id":"https://openalex.org/I159247623","display_name":"Mansoura University","ror":"https://ror.org/01k8vtd75","country_code":"EG","type":"education","lineage":["https://openalex.org/I159247623"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Mohamed Fanni","raw_affiliation_strings":["Department of Mechatronics and Robotics Engineering, Mansoura University, Mansoura, Egypt"],"affiliations":[{"raw_affiliation_string":"Department of Mechatronics and Robotics Engineering, Mansoura University, Mansoura, Egypt","institution_ids":["https://openalex.org/I159247623"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024386556","display_name":"Toru Namerikawa","orcid":"https://orcid.org/0000-0001-9907-4234"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toru Namerikawa","raw_affiliation_strings":["Department of System Design Engineering, Keio University, Yokohama, Japan"],"affiliations":[{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101572265"],"corresponding_institution_ids":["https://openalex.org/I203951103","https://openalex.org/I32619867"],"apc_list":null,"apc_paid":null,"fwci":0.2678,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.6044985,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"556","last_page":"561"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9991000294685364,"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":0.9991000294685364,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.998199999332428,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/control-theory","display_name":"Control theory (sociology)","score":0.821442723274231},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.802588164806366},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.6252374649047852},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.61641526222229},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.5908343195915222},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5411232709884644},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5272276401519775},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49278882145881653},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.48497962951660156},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.46141088008880615},{"id":"https://openalex.org/keywords/angular-acceleration","display_name":"Angular acceleration","score":0.4446544945240021},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.41340339183807373},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40689489245414734},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32667890191078186},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17238777875900269},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1621299684047699},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10693913698196411}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.821442723274231},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.802588164806366},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.6252374649047852},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.61641526222229},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.5908343195915222},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5411232709884644},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5272276401519775},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49278882145881653},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.48497962951660156},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.46141088008880615},{"id":"https://openalex.org/C190704821","wikidata":"https://www.wikidata.org/wiki/Q186300","display_name":"Angular acceleration","level":3,"score":0.4446544945240021},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.41340339183807373},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40689489245414734},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32667890191078186},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17238777875900269},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1621299684047699},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10693913698196411},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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":1,"locations":[{"id":"doi:10.1109/cca.2016.7587888","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2016.7587888","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE Conference on Control Applications (CCA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.6299999952316284,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1256870269","https://openalex.org/W1509235676","https://openalex.org/W1534826615","https://openalex.org/W1999941908","https://openalex.org/W2012252652","https://openalex.org/W2014520440","https://openalex.org/W2038427383","https://openalex.org/W2050609030","https://openalex.org/W2055913619","https://openalex.org/W2071146130","https://openalex.org/W2084390534","https://openalex.org/W2100533191","https://openalex.org/W2113265921","https://openalex.org/W2121385616","https://openalex.org/W2157356062","https://openalex.org/W2159786429","https://openalex.org/W2508793589","https://openalex.org/W2540257229","https://openalex.org/W2574141186","https://openalex.org/W4230504900","https://openalex.org/W4285719527","https://openalex.org/W6725400385","https://openalex.org/W6732077845"],"related_works":["https://openalex.org/W4280531291","https://openalex.org/W123316752","https://openalex.org/W2349527210","https://openalex.org/W1998462347","https://openalex.org/W2628866709","https://openalex.org/W1998712660","https://openalex.org/W2275557598","https://openalex.org/W1836713364","https://openalex.org/W2141603307","https://openalex.org/W2149484996"],"abstract_inverted_index":{"Aerial":[0],"manipulation":[1,45],"systems":[2],"become":[3],"very":[4],"attractive":[5],"for":[6],"a":[7,37,43,69,103],"wide":[8],"range":[9],"of":[10,19,42,89,95,137,147,159],"applications":[11],"due":[12,25],"to":[13,26],"their":[14],"unique":[15],"features.":[16],"However,":[17,74],"control":[18,65,72],"such":[20,59],"system":[21,46],"is":[22,47,107,154,163],"quite":[23],"challenging":[24],"its":[27],"high":[28],"nonlinearities,":[29,55],"couplings,":[30],"and":[31,54,115,130,139,152],"external":[32],"disturbances.":[33],"In":[34],"this":[35,133],"paper,":[36],"Disturbance":[38],"Observer":[39],"(DOb)-based":[40],"linearization":[41],"quadrotor":[44],"utilized.":[48],"The":[49,157],"DOb":[50,78],"estimates":[51],"the":[52,64,75,81,86,90,93,96,111,124,135,145,160],"disturbances":[53,140],"then":[56],"compensates":[57],"them":[58],"that":[60,118],"one":[61],"can":[62,119],"treat":[63],"problem":[66],"based":[67,84,108],"on":[68,85,109],"simple":[70],"linear":[71,113],"algorithm.":[73],"current":[76],"developed":[77],"schemes":[79],"in":[80],"literature":[82],"are":[83,141],"precise":[87],"measurement":[88],"acceleration":[91,149],"or":[92,150],"estimation":[94,136,148],"velocity.":[97],"Unlike,":[98],"these":[99],"methods,":[100],"we":[101],"propose":[102],"modified":[104],"DOb,":[105],"which":[106],"both":[110],"measured":[112],"accelerations":[114],"angular":[116],"velocities":[117],"be":[120],"obtained":[121],"directly":[122],"from":[123],"onboard":[125],"Inertial":[126],"Measurement":[127],"Unit":[128],"(IMU)":[129],"encoders.":[131],"With":[132],"technique,":[134],"nonlinearities":[138],"carried":[142],"out":[143],"without":[144],"need":[146],"velocity,":[151],"it":[153],"model":[155],"free.":[156],"Effectiveness":[158],"proposed":[161],"technique":[162],"verified":[164],"via":[165],"numerical":[166],"simulations.":[167]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}