{"id":"https://openalex.org/W2020639793","doi":"https://doi.org/10.1109/cdc.2013.6759886","title":"Circle motion control of Trirotor UAV via discrete output zeroing","display_name":"Circle motion control of Trirotor UAV via discrete output zeroing","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W2020639793","doi":"https://doi.org/10.1109/cdc.2013.6759886","mag":"2020639793"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2013.6759886","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2013.6759886","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"52nd IEEE Conference on Decision and Control","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/A5103578559","display_name":"Yasuyuki Kataoka","orcid":"https://orcid.org/0000-0001-9075-0590"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuyuki Kataoka","raw_affiliation_strings":["Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan","Dept. of Mech. & Control Eng., Tokyo Inst. of Technol., Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Dept. of Mech. & Control Eng., Tokyo Inst. of Technol., Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065997102","display_name":"Kazuma Sekiguchi","orcid":"https://orcid.org/0000-0001-6502-0617"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuma Sekiguchi","raw_affiliation_strings":["Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan","Dept. of Mech. & Control Eng., Tokyo Inst. of Technol., Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Dept. of Mech. & Control Eng., Tokyo Inst. of Technol., Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054252577","display_name":"Mitsuji Sampei","orcid":"https://orcid.org/0000-0002-3478-8399"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitsuji Sampei","raw_affiliation_strings":["Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan","Dept. of Mech. & Control Eng., Tokyo Inst. of Technol., Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Dept. of Mech. & Control Eng., Tokyo Inst. of Technol., Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":0.468,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.53360319,"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":"226","last_page":"231"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9984999895095825,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9984999895095825,"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":0.9980999827384949,"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.9975000023841858,"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/motion-control","display_name":"Motion control","score":0.6468180418014526},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5435291528701782},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5310307741165161},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5090469717979431},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.456904798746109},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2878616452217102},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2767287492752075},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15399986505508423}],"concepts":[{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.6468180418014526},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5435291528701782},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5310307741165161},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5090469717979431},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.456904798746109},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2878616452217102},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2767287492752075},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15399986505508423}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2013.6759886","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2013.6759886","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"52nd IEEE Conference on Decision and Control","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W2033826217","https://openalex.org/W2044279823","https://openalex.org/W2110450303","https://openalex.org/W2141666765","https://openalex.org/W4205940976","https://openalex.org/W4292408540","https://openalex.org/W6661613921"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W4402327032","https://openalex.org/W2382290278"],"abstract_inverted_index":{"In":[0,68],"this":[1,77],"paper,":[2],"a":[3,39],"nonlinear":[4,88],"controller":[5,51],"is":[6,45],"designed":[7],"for":[8],"an":[9],"underactuated":[10],"UAV":[11,25],"having":[12],"three":[13],"inputs":[14],"to":[15,27,58],"realize":[16],"\u201ccircle":[17],"motion\u201d,":[18],"the":[19,22,28,33,47,83,86],"motion":[20],"that":[21],"attitude":[23],"of":[24,30,35,85],"points":[26],"center":[29,34],"circle":[31,40],"while":[32],"mass":[36],"moves":[37],"on":[38],"orbit.":[41],"The":[42],"proposed":[43,87],"method":[44,54],"redesigning":[46],"time-varying":[48],"output":[49,56,64],"zeroing":[50],"discretely.":[52],"This":[53],"allows":[55],"functions":[57,65],"be":[59,74],"kept":[60],"zero":[61,71],"even":[62],"though":[63],"are":[66],"changed.":[67],"other":[69],"words,":[70],"dynamics":[72],"can":[73],"controlled":[75],"by":[76],"method.":[78],"Finally,":[79],"numerical":[80],"simulation":[81],"shows":[82],"validity":[84],"controller.":[89]},"counts_by_year":[{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}