{"id":"https://openalex.org/W2078087182","doi":"https://doi.org/10.1109/ccece.2012.6335037","title":"Active Fault Tolerant Control of a quadrotor UAV based on gainscheduled PID control","display_name":"Active Fault Tolerant Control of a quadrotor UAV based on gainscheduled PID control","publication_year":2012,"publication_date":"2012-04-01","ids":{"openalex":"https://openalex.org/W2078087182","doi":"https://doi.org/10.1109/ccece.2012.6335037","mag":"2078087182"},"language":"en","primary_location":{"id":"doi:10.1109/ccece.2012.6335037","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccece.2012.6335037","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 25th IEEE Canadian Conference on Electrical and Computer Engineering (CCECE)","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/A5062268613","display_name":"Iman Sadeghzadeh","orcid":null},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"I. Sadeghzadeh","raw_affiliation_strings":["Concordia University, Montreal, QUE, Canada","Concordia University, Montr\u00e9al, Quebec H3G 1M8, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Concordia University, Montreal, QUE, Canada","institution_ids":["https://openalex.org/I60158472"]},{"raw_affiliation_string":"Concordia University, Montr\u00e9al, Quebec H3G 1M8, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003738979","display_name":"Ankit Nalin Mehta","orcid":"https://orcid.org/0000-0002-2169-940X"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"A. Mehta","raw_affiliation_strings":["Concordia University, Montreal, QUE, Canada","Concordia University, Montr\u00e9al, Quebec H3G 1M8, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Concordia University, Montreal, QUE, Canada","institution_ids":["https://openalex.org/I60158472"]},{"raw_affiliation_string":"Concordia University, Montr\u00e9al, Quebec H3G 1M8, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045226881","display_name":"Abbas Chamseddine","orcid":"https://orcid.org/0000-0002-5993-9384"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"A. Chamseddine","raw_affiliation_strings":["Concordia University, Montreal, QUE, Canada","Concordia University, Montr\u00e9al, Quebec H3G 1M8, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Concordia University, Montreal, QUE, Canada","institution_ids":["https://openalex.org/I60158472"]},{"raw_affiliation_string":"Concordia University, Montr\u00e9al, Quebec H3G 1M8, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100416422","display_name":"Youmin Zhang","orcid":"https://orcid.org/0000-0002-9731-5943"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Youmin Zhang","raw_affiliation_strings":["Concordia University, Montreal, QUE, Canada","Concordia University, Montr\u00e9al, Quebec H3G 1M8, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Concordia University, Montreal, QUE, Canada","institution_ids":["https://openalex.org/I60158472"]},{"raw_affiliation_string":"Concordia University, Montr\u00e9al, Quebec H3G 1M8, Canada","institution_ids":["https://openalex.org/I60158472"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.3899,"has_fulltext":false,"cited_by_count":62,"citation_normalized_percentile":{"value":0.96908175,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":1.0,"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/T10876","display_name":"Fault Detection and Control Systems","score":1.0,"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":0.9988999962806702,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9958999752998352,"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/pid-controller","display_name":"PID controller","score":0.842272162437439},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7561897039413452},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7035072445869446},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.6743746995925903},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.5633842945098877},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.5396672487258911},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5215291976928711},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4875785708427429},{"id":"https://openalex.org/keywords/active-fault","display_name":"Active fault","score":0.475516140460968},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46032869815826416},{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.4530092179775238},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4442836046218872},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4315343499183655},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.378385066986084},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.11997786164283752},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10381454229354858},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.052390605211257935}],"concepts":[{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.842272162437439},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7561897039413452},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7035072445869446},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.6743746995925903},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.5633842945098877},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.5396672487258911},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5215291976928711},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4875785708427429},{"id":"https://openalex.org/C26001220","wikidata":"https://www.wikidata.org/wiki/Q1089248","display_name":"Active fault","level":3,"score":0.475516140460968},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46032869815826416},{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.4530092179775238},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4442836046218872},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4315343499183655},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.378385066986084},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.11997786164283752},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10381454229354858},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.052390605211257935},{"id":"https://openalex.org/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ccece.2012.6335037","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccece.2012.6335037","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 25th IEEE Canadian Conference on Electrical and Computer Engineering (CCECE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6100000143051147}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":4,"referenced_works":["https://openalex.org/W2139494503","https://openalex.org/W2167229184","https://openalex.org/W2323800248","https://openalex.org/W2329008437"],"related_works":["https://openalex.org/W2002388147","https://openalex.org/W3098928304","https://openalex.org/W2394883510","https://openalex.org/W2023324176","https://openalex.org/W2150958483","https://openalex.org/W2922503265","https://openalex.org/W3097920840","https://openalex.org/W2165013373","https://openalex.org/W3212795132","https://openalex.org/W2104103723"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"an":[3,14,43,108],"Active":[4],"Fault-Tolerant":[5],"Control":[6],"(AFTC)":[7],"technique":[8],"is":[9,52,66],"developed":[10],"and":[11,48,54,58],"applied":[12],"to":[13,56,80,93,121],"unmanned":[15],"quadrotor":[16],"helicopter":[17],"UAV":[18],"(Unmanned":[19],"Aerial":[20],"Vehicle,":[21],"known":[22],"also":[23],"as":[24],"Qball-X4)":[25],"with":[26],"6":[27],"degrees":[28],"of":[29,85,96,107,125],"freedom":[30],"based":[31,68,132],"on":[32,69,133],"a":[33,46],"Gain-Scheduled":[34],"Proportional-Integral":[35],"Derivative":[36],"(GS-PID)":[37],"control":[38,130,136],"technique.":[39,137],"For":[40],"implementing":[41],"such":[42],"AFTC":[44],"system,":[45],"Fault-Detection":[47],"Diagnosis":[49],"(FDD)":[50],"block":[51,65],"essential":[53],"implemented":[55,67],"detect":[57],"identify":[59],"the":[60,70,105,112,123,126,134],"actuator":[61,109],"fault.":[62],"The":[63],"FDD":[64],"OptiTrack":[71],"visual":[72],"feedback":[73],"for":[74,89,100],"providing":[75],"information":[76],"needed":[77],"by":[78],"GS-PID":[79,135],"switch":[81],"from":[82],"one":[83],"set":[84,95],"pre-tuned":[86],"controller":[87,97],"gains":[88,98],"normal":[90],"(pre-fault)":[91],"condition":[92],"another":[94],"tuned":[99],"faulty":[101],"(post-fault)":[102],"conditions":[103],"in":[104,111],"presence":[106],"fault":[110],"Qball-X4":[113],"UAV.":[114],"Finally,":[115],"experimental":[116],"testing":[117],"results":[118],"are":[119],"presented":[120],"demonstrate":[122],"effectiveness":[124],"proposed":[127],"active":[128],"fault-tolerant":[129],"strategy":[131]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":12},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":9},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}