{"id":"https://openalex.org/W4315472015","doi":"https://doi.org/10.1109/cdc51059.2022.9992624","title":"Decentralized Unified Position-Attitude Control of Nonlinear UAVs","display_name":"Decentralized Unified Position-Attitude Control of Nonlinear UAVs","publication_year":2022,"publication_date":"2022-12-06","ids":{"openalex":"https://openalex.org/W4315472015","doi":"https://doi.org/10.1109/cdc51059.2022.9992624"},"language":"en","primary_location":{"id":"doi:10.1109/cdc51059.2022.9992624","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/cdc51059.2022.9992624","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","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":"2022 IEEE 61st Conference on Decision and Control (CDC)","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/A5100677426","display_name":"Boyang Zhang","orcid":"https://orcid.org/0000-0003-2040-9957"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Boyang Zhang","raw_affiliation_strings":["Duke University,Department of Civil and Environmental Engineering,Durham,NC,USA,27708"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Duke University,Department of Civil and Environmental Engineering,Durham,NC,USA,27708","institution_ids":["https://openalex.org/I170897317"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068037818","display_name":"Henri P. Gavin","orcid":"https://orcid.org/0000-0001-6200-8022"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Henri P. Gavin","raw_affiliation_strings":["Duke University,Department of Civil and Environmental Engineering,Durham,NC,USA,27708"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Duke University,Department of Civil and Environmental Engineering,Durham,NC,USA,27708","institution_ids":["https://openalex.org/I170897317"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I170897317"],"apc_list":null,"apc_paid":null,"fwci":0.3507,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.52223787,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"439","issue":null,"first_page":"5214","last_page":"5219"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9993000030517578,"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/attitude-control","display_name":"Attitude control","score":0.7434147596359253},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6512062549591064},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5819352269172668},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5630283951759338},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5311946272850037},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5223894715309143},{"id":"https://openalex.org/keywords/position-paper","display_name":"Position paper","score":0.46371057629585266},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.4518643021583557},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36871689558029175},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22503873705863953},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1946251392364502},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0744016170501709}],"concepts":[{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.7434147596359253},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6512062549591064},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5819352269172668},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5630283951759338},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5311946272850037},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5223894715309143},{"id":"https://openalex.org/C78780964","wikidata":"https://www.wikidata.org/wiki/Q7233193","display_name":"Position paper","level":2,"score":0.46371057629585266},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.4518643021583557},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36871689558029175},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22503873705863953},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1946251392364502},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0744016170501709},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/cdc51059.2022.9992624","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/cdc51059.2022.9992624","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","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":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332447","display_name":"U.S. Army","ror":"https://ror.org/00afsp483"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1602281723","https://openalex.org/W1975537977","https://openalex.org/W1995408953","https://openalex.org/W2136207702","https://openalex.org/W2591921113","https://openalex.org/W2886401384","https://openalex.org/W2898556730","https://openalex.org/W2945809459","https://openalex.org/W2970930573","https://openalex.org/W2981729160","https://openalex.org/W3185701463","https://openalex.org/W4205919981","https://openalex.org/W4224980604","https://openalex.org/W4294692121","https://openalex.org/W6651344518"],"related_works":["https://openalex.org/W2911039683","https://openalex.org/W2382416307","https://openalex.org/W1966415008","https://openalex.org/W3112644326","https://openalex.org/W4389316227","https://openalex.org/W2204729203","https://openalex.org/W2187575493","https://openalex.org/W2203842767","https://openalex.org/W2389520089","https://openalex.org/W1974854112"],"abstract_inverted_index":{"In":[0,45],"this":[1,30,46],"paper,":[2],"we":[3],"propose":[4],"a":[5,33,74,126,157],"fully":[6],"decentralized,":[7],"nonlinear":[8,15],"feedback":[9],"control":[10,36,108],"law":[11],"to":[12,125,135,154],"maneuver":[13],"multiple":[14],"quadrotor":[16],"UAVs":[17],"with":[18,60],"interagent":[19],"collision":[20,146],"avoidance":[21,147],"and":[22,38,53,89,92,98,121,148],"natural":[23,119],"deadlock":[24,149],"resolution.":[25],"Most":[26],"existing":[27],"work":[28],"on":[29,73,145],"problem":[31],"adopts":[32],"cascaded":[34],"position-attitude":[35],"scheme":[37,70],"utilizes":[39],"linearized":[40],"dynamics":[41,62],"in":[42,56],"controller":[43],"synthesis.":[44],"work,":[47],"each":[48,104],"UAV":[49],"controls":[50],"its":[51],"position":[52],"attitude":[54],"simultaneously":[55],"one":[57],"unified":[58],"step,":[59],"no":[61],"linearization":[63],"involved":[64],"at":[65,103],"any":[66,87,90],"stage.":[67],"The":[68,107],"proposed":[69],"is":[71,151],"based":[72],"generalization":[75],"of":[76,79,86,139,156],"Gauss\u2019s":[77],"principle":[78],"least":[80],"constraint":[81,128],"that":[82,93,155],"allows":[83],"constrained":[84],"systems":[85],"order":[88],"type":[91],"identifies,":[94],"differentiates,":[95],"stabilizes,":[96],"partitions,":[97],"incorporates":[99],"the":[100,114,137,140],"active":[101,115],"constraints":[102,116],"time":[105],"instant.":[106],"actions":[109],"result":[110],"from":[111],"asymptotically":[112],"stabilizing":[113],"by":[117],"user-specified":[118],"frequencies":[120],"damping":[122],"ratios":[123],"according":[124],"generalized":[127],"stabilization.":[129],"Two":[130],"numerical":[131],"examples":[132],"are":[133],"used":[134],"demonstrate":[136],"effectiveness":[138],"present":[141],"method,":[142],"whose":[143],"performance":[144],"resolution":[150],"sufficiently":[152],"close":[153],"centralized":[158],"method.":[159]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
