{"id":"https://openalex.org/W2527690768","doi":"https://doi.org/10.1109/cca.2016.7587999","title":"Trajectory tracking for a quadrotor system: A flatness-based nonlinear predictive control approach","display_name":"Trajectory tracking for a quadrotor system: A flatness-based nonlinear predictive control approach","publication_year":2016,"publication_date":"2016-09-01","ids":{"openalex":"https://openalex.org/W2527690768","doi":"https://doi.org/10.1109/cca.2016.7587999","mag":"2527690768"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2016.7587999","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2016.7587999","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/A5051957636","display_name":"Jos\u00e9 Oniram de Aquino Limaverde Filho","orcid":"https://orcid.org/0000-0002-3936-8131"},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Jose Oniram de A. Limaverde Filho","raw_affiliation_strings":["Automation and Control Group (GRACO), University of Bras\u00edlia, Bras\u00edlia, Federal District, Brazil"],"affiliations":[{"raw_affiliation_string":"Automation and Control Group (GRACO), University of Bras\u00edlia, Bras\u00edlia, Federal District, Brazil","institution_ids":["https://openalex.org/I150729083"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071222982","display_name":"Tiago Santana Louren\u00e7o","orcid":null},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Tiago S. Lourenco","raw_affiliation_strings":["Department of Mechanical Engineering, University of Bras\u00edlia, Bras\u00edlia, Federal District, Brazil"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Bras\u00edlia, Bras\u00edlia, Federal District, Brazil","institution_ids":["https://openalex.org/I150729083"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001625484","display_name":"Eug\u00eanio Fortaleza","orcid":"https://orcid.org/0000-0002-2640-4439"},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Eugenio Fortaleza","raw_affiliation_strings":["Automation and Control Group (GRACO), University of Bras\u00edlia, Bras\u00edlia, Federal District, Brazil"],"affiliations":[{"raw_affiliation_string":"Automation and Control Group (GRACO), University of Bras\u00edlia, Bras\u00edlia, Federal District, Brazil","institution_ids":["https://openalex.org/I150729083"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047415497","display_name":"Andr\u00e9 Murilo","orcid":"https://orcid.org/0000-0002-5101-0685"},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Andre Murilo","raw_affiliation_strings":["Department of Automotive Engineering, University of Bras\u00edlia, Bras\u00edlia, Federal District, Brazil"],"affiliations":[{"raw_affiliation_string":"Department of Automotive Engineering, University of Bras\u00edlia, Bras\u00edlia, Federal District, Brazil","institution_ids":["https://openalex.org/I150729083"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091385606","display_name":"Renato Vilela Lopes","orcid":"https://orcid.org/0000-0002-8824-6384"},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Renato V. Lopes","raw_affiliation_strings":["Department of Electronic Engineering, University of Bras\u00edlia, Bras\u00edlia, Federal District, Brazil"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, University of Bras\u00edlia, Bras\u00edlia, Federal District, Brazil","institution_ids":["https://openalex.org/I150729083"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5051957636"],"corresponding_institution_ids":["https://openalex.org/I150729083"],"apc_list":null,"apc_paid":null,"fwci":1.339,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.82638565,"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":"1380","last_page":"1385"},"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9997000098228455,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9975000023841858,"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/control-theory","display_name":"Control theory (sociology)","score":0.844508707523346},{"id":"https://openalex.org/keywords/flatness","display_name":"Flatness (cosmology)","score":0.7724692821502686},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.720740020275116},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6979714632034302},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.673547625541687},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6439336538314819},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.49834203720092773},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4900175631046295},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.44887733459472656},{"id":"https://openalex.org/keywords/linear-system","display_name":"Linear system","score":0.4429306387901306},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4350614845752716},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38761448860168457},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2968793511390686},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2113034725189209},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14839985966682434},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11018496751785278}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.844508707523346},{"id":"https://openalex.org/C2778530986","wikidata":"https://www.wikidata.org/wiki/Q5457948","display_name":"Flatness (cosmology)","level":3,"score":0.7724692821502686},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.720740020275116},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6979714632034302},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.673547625541687},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6439336538314819},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.49834203720092773},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4900175631046295},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.44887733459472656},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.4429306387901306},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4350614845752716},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38761448860168457},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2968793511390686},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2113034725189209},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14839985966682434},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11018496751785278},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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.2016.7587999","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2016.7587999","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322025","display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","ror":"https://ror.org/03swz6y49"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W122778097","https://openalex.org/W965325311","https://openalex.org/W1544309520","https://openalex.org/W1576721254","https://openalex.org/W1581397664","https://openalex.org/W1586130465","https://openalex.org/W1704276703","https://openalex.org/W1841637922","https://openalex.org/W1891381584","https://openalex.org/W2003272792","https://openalex.org/W2013439434","https://openalex.org/W2042543449","https://openalex.org/W2050405980","https://openalex.org/W2057615321","https://openalex.org/W2101871514","https://openalex.org/W2108931331","https://openalex.org/W2116773335","https://openalex.org/W2139118640","https://openalex.org/W2236246473","https://openalex.org/W2299661663","https://openalex.org/W2424700137","https://openalex.org/W4255861705","https://openalex.org/W4285719527","https://openalex.org/W6637556697","https://openalex.org/W6717935366"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W2789295429","https://openalex.org/W4321093571","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,33,48,79,85],"flatness-based":[4],"nonlinear":[5,27],"predictive":[6,50],"control":[7,95],"strategy":[8],"to":[9,32,60],"solve":[10],"the":[11,25,43,56,70,93],"trajectory":[12,63],"tracking":[13,64],"problem":[14],"for":[15,55],"an":[16],"underactuated":[17],"quadrotor":[18],"system":[19,36,59,73],"model.":[20],"It":[21],"is":[22,53,82,97],"shown":[23],"that":[24],"present":[26],"model":[28,49],"can":[29,74],"be":[30,76],"transformed":[31,72],"controllable":[34],"linear":[35,57],"on":[37],"Brunovskys":[38],"canonical":[39],"form":[40],"by":[41,84],"using":[42],"differential":[44],"flatness":[45],"theory.":[46],"Thus,":[47],"controller":[51],"(MPC)":[52],"designed":[54],"equivalent":[58],"carry":[61],"out":[62],"tasks.":[65],"Since":[66],"certain":[67],"variables":[68],"of":[69,92],"corresponding":[71],"not":[75],"measured":[77],"directly,":[78],"state":[80],"estimation":[81],"performed":[83],"derivative-free":[86],"Kalman":[87],"filtering":[88],"approach.":[89],"The":[90],"efficiency":[91],"proposed":[94],"scheme":[96],"demonstrated":[98],"through":[99],"numerical":[100],"simulations.":[101]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}