{"id":"https://openalex.org/W2156524130","doi":"https://doi.org/10.1109/icca.2010.5524293","title":"Trajectory Linearization Control for a quadrotor helicopter","display_name":"Trajectory Linearization Control for a quadrotor helicopter","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W2156524130","doi":"https://doi.org/10.1109/icca.2010.5524293","mag":"2156524130"},"language":"en","primary_location":{"id":"doi:10.1109/icca.2010.5524293","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2010.5524293","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ICCA 2010","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/A5078448953","display_name":"Bing Zhu","orcid":"https://orcid.org/0000-0001-9839-5757"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bing Zhu","raw_affiliation_strings":["Beijing Aeronautics and Astronautics University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Aeronautics and Astronautics University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101744670","display_name":"Wei Huo","orcid":"https://orcid.org/0000-0002-0096-6898"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Huo","raw_affiliation_strings":["Beijing Aeronautics and Astronautics University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Aeronautics and Astronautics University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":4.8836,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.96113144,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"34","last_page":"39"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear 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/T10040","display_name":"Adaptive Control of Nonlinear 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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9995999932289124,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.998199999332428,"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":0.8333717584609985},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7194188833236694},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6831117272377014},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.6724398732185364},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.6548699140548706},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6402798891067505},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6021801829338074},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.5222072005271912},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5193918347358704},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47641241550445557},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4619354009628296},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.4519495666027069},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.43920984864234924},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.42809516191482544},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.41093772649765015},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3069174289703369},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.249880850315094},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23063397407531738},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17212700843811035},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15404438972473145},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09820407629013062},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07371383905410767}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8333717584609985},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7194188833236694},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6831117272377014},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.6724398732185364},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.6548699140548706},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6402798891067505},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6021801829338074},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.5222072005271912},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5193918347358704},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47641241550445557},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4619354009628296},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.4519495666027069},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.43920984864234924},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.42809516191482544},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.41093772649765015},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3069174289703369},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.249880850315094},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23063397407531738},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17212700843811035},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15404438972473145},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09820407629013062},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07371383905410767},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icca.2010.5524293","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2010.5524293","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ICCA 2010","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1521806437","https://openalex.org/W1667656720","https://openalex.org/W1898734198","https://openalex.org/W1918754505","https://openalex.org/W2026479212","https://openalex.org/W2096394951","https://openalex.org/W2103641605","https://openalex.org/W2118668722","https://openalex.org/W2137570966","https://openalex.org/W2139706098","https://openalex.org/W2141666765","https://openalex.org/W2163198877","https://openalex.org/W2167089508","https://openalex.org/W2167229184","https://openalex.org/W2167631306","https://openalex.org/W2334831105","https://openalex.org/W3047068890","https://openalex.org/W4230419124","https://openalex.org/W6684555164"],"related_works":["https://openalex.org/W1889129279","https://openalex.org/W4387451989","https://openalex.org/W2532412374","https://openalex.org/W2063137106","https://openalex.org/W23275807","https://openalex.org/W2358715846","https://openalex.org/W2761234876","https://openalex.org/W2000292580","https://openalex.org/W1492513299","https://openalex.org/W2572731987"],"abstract_inverted_index":{"The":[0],"trajectory":[1,108],"tracking":[2,109],"problem":[3],"of":[4,23,64,71,98,106],"a":[5],"quadrotor":[6,25,78,93],"helicopters":[7],"is":[8,56],"investigated":[9],"with":[10],"Trajectory":[11],"Linearization":[12],"Control":[13],"(TLC)":[14],"method":[15,55],"in":[16,32,92],"this":[17],"paper.":[18],"Due":[19],"to":[20,42,58,95],"symmetrical":[21],"structure":[22],"the":[24,37,60,69,87,99,107],"helicopters,":[26],"gyroscopic":[27,88],"effects":[28,89],"can":[29,39,81],"be":[30,40,82],"neglected":[31],"its":[33],"dynamical":[34,79],"model":[35,38,80,94],"and":[36,51],"divided":[41],"four":[43],"subsystems:":[44],"position":[45,47],"kinematics,":[46],"dynamics,":[48],"attitude":[49,52],"kinematics":[50],"dynamics.":[53],"TLC":[54,114],"applied":[57],"design":[59],"controller":[61,110],"for":[62,76],"each":[63],"these":[65],"subsystems":[66],"such":[67],"that":[68],"difficulty":[70],"finding":[72],"an":[73],"inverse":[74],"system":[75],"complex":[77],"avoided.":[83],"In":[84],"simulation":[85],"study,":[86],"are":[90],"included":[91],"verify":[96],"robustness":[97],"proposed":[100],"controller.":[101],"Simulation":[102],"results":[103],"demonstrate":[104],"effectiveness":[105],"designed":[111],"based":[112],"on":[113],"method.":[115]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}