{"id":"https://openalex.org/W2760832965","doi":"https://doi.org/10.1109/ccta.2017.8062677","title":"Robust hybrid control for swinging-up and balancing an inverted pendulum attached to a UAV","display_name":"Robust hybrid control for swinging-up and balancing an inverted pendulum attached to a UAV","publication_year":2017,"publication_date":"2017-08-01","ids":{"openalex":"https://openalex.org/W2760832965","doi":"https://doi.org/10.1109/ccta.2017.8062677","mag":"2760832965"},"language":"en","primary_location":{"id":"doi:10.1109/ccta.2017.8062677","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2017.8062677","pdf_url":null,"source":{"id":"https://openalex.org/S4306498159","display_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","issn_l":null,"issn":null,"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":"2017 IEEE Conference on Control Technology and Applications (CCTA)","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/A5022991995","display_name":"Christoph Hintz","orcid":null},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Christoph Hintz","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, NM"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, NM","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006711436","display_name":"Shakeeb Ahmad","orcid":"https://orcid.org/0000-0002-6251-2146"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shakeeb Ahmad","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, NM"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, NM","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082098728","display_name":"Joseph Kloeppel","orcid":null},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joseph Kloeppel","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, NM"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, NM","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074464769","display_name":"Rafael Fierro","orcid":"https://orcid.org/0000-0002-5574-7246"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rafael Fierro","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, NM"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, NM","institution_ids":["https://openalex.org/I169521973"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5022991995"],"corresponding_institution_ids":["https://openalex.org/I169521973"],"apc_list":null,"apc_paid":null,"fwci":0.5411,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.51387755,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1550","last_page":"1555"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9943000078201294,"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/inverted-pendulum","display_name":"Inverted pendulum","score":0.964180052280426},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7598839402198792},{"id":"https://openalex.org/keywords/double-inverted-pendulum","display_name":"Double inverted pendulum","score":0.658298671245575},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.619736909866333},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5722211599349976},{"id":"https://openalex.org/keywords/double-pendulum","display_name":"Double pendulum","score":0.5292897820472717},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5212677121162415},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4466373026371002},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.42845994234085083},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3932466506958008},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.34287166595458984},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24132558703422546},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12683048844337463},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09254905581474304}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.964180052280426},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7598839402198792},{"id":"https://openalex.org/C102540577","wikidata":"https://www.wikidata.org/wiki/Q5300047","display_name":"Double inverted pendulum","level":4,"score":0.658298671245575},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.619736909866333},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5722211599349976},{"id":"https://openalex.org/C167183279","wikidata":"https://www.wikidata.org/wiki/Q1243208","display_name":"Double pendulum","level":4,"score":0.5292897820472717},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5212677121162415},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4466373026371002},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.42845994234085083},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3932466506958008},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34287166595458984},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24132558703422546},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12683048844337463},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09254905581474304},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/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/ccta.2017.8062677","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2017.8062677","pdf_url":null,"source":{"id":"https://openalex.org/S4306498159","display_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","issn_l":null,"issn":null,"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":"2017 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W104260406","https://openalex.org/W187764570","https://openalex.org/W1436234145","https://openalex.org/W1963754511","https://openalex.org/W1990984703","https://openalex.org/W1993669145","https://openalex.org/W1998412260","https://openalex.org/W1998811959","https://openalex.org/W2026692965","https://openalex.org/W2041521369","https://openalex.org/W2044044501","https://openalex.org/W2050129189","https://openalex.org/W2065894019","https://openalex.org/W2072093554","https://openalex.org/W2102295697","https://openalex.org/W2103174824","https://openalex.org/W2105875036","https://openalex.org/W2120499270","https://openalex.org/W2128011079","https://openalex.org/W2157356547","https://openalex.org/W2163198877","https://openalex.org/W2292752006","https://openalex.org/W2506546048","https://openalex.org/W2832689101","https://openalex.org/W2917442576","https://openalex.org/W3141505394","https://openalex.org/W4250158653"],"related_works":["https://openalex.org/W2612646280","https://openalex.org/W2366496871","https://openalex.org/W3216306759","https://openalex.org/W2669735925","https://openalex.org/W1977487254","https://openalex.org/W2204278379","https://openalex.org/W1544534375","https://openalex.org/W2734833709","https://openalex.org/W2333418779","https://openalex.org/W1979149861"],"abstract_inverted_index":{"The":[0],"problem":[1,31,51],"of":[2,27,32,52,72,100,107],"balancing":[3,55],"a":[4,34,61,88,105],"flying":[5,35],"inverted":[6,57,94],"pendulum":[7,36,58],"on":[8],"an":[9,56],"unmanned":[10],"aerial":[11],"vehicle":[12],"(UAV)":[13],"has":[14,37],"been":[15,39],"solved":[16],"using":[17,63],"linear":[18,91],"and":[19,54,76,92],"nonlinear":[20],"control":[21,66],"approaches.":[22,67],"However,":[23],"to":[24,60,87],"the":[25,30,42,49,73,98,101],"best":[26],"our":[28],"knowledge,":[29],"swinging-up":[33,53],"not":[38],"addressed":[40],"in":[41],"literature.":[43],"In":[44],"this":[45,79],"paper,":[46],"we":[47,69],"solve":[48],"general":[50],"attached":[59],"quadrotor":[62,74],"robust":[64],"hybrid":[65],"Moreover,":[68],"take":[70],"advantage":[71],"dynamics":[75],"show":[77],"that":[78],"system":[80],"can":[81],"be":[82],"implemented":[83],"without":[84],"any":[85],"modifications":[86],"universal":[89],"(i.e.,":[90],"rotary)":[93],"pendulum.":[95],"We":[96],"demonstrate":[97],"performance":[99],"proposed":[102],"controller":[103],"through":[104],"set":[106],"realistic":[108],"simulation":[109],"studies.":[110]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
