{"id":"https://openalex.org/W2743749970","doi":"https://doi.org/10.1109/icca.2017.8003033","title":"Adaptive fault tolerant attitude tracking control for a quadrotor with input saturation and full-state constraints","display_name":"Adaptive fault tolerant attitude tracking control for a quadrotor with input saturation and full-state constraints","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2743749970","doi":"https://doi.org/10.1109/icca.2017.8003033","mag":"2743749970"},"language":"en","primary_location":{"id":"doi:10.1109/icca.2017.8003033","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2017.8003033","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","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/A5068931814","display_name":"Ziqian Zhao","orcid":"https://orcid.org/0000-0002-4784-0440"},"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":"Ziqian Zhao","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University, Beijing, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University, Beijing, P. R. China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003004840","display_name":"Zewei Zheng","orcid":"https://orcid.org/0000-0001-9412-4271"},"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":"Zewei Zheng","raw_affiliation_strings":["Seventh Research Division, Beihang University, Beijing, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seventh Research Division, Beihang University, Beijing, P. R. China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101584127","display_name":"Ming Zhu","orcid":"https://orcid.org/0000-0002-4693-754X"},"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":"Ming Zhu","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University, Beijing, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University, Beijing, P. R. China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101526456","display_name":"Zhe Wu","orcid":"https://orcid.org/0000-0002-2095-0180"},"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":"Zhe Wu","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University, Beijing, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University, Beijing, P. R. 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":0.1984,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.5109271,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"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/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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9912999868392944,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.989300012588501,"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/control-theory","display_name":"Control theory (sociology)","score":0.8870768547058105},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.8041517734527588},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5708886384963989},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5676059126853943},{"id":"https://openalex.org/keywords/multiplicative-function","display_name":"Multiplicative function","score":0.5554326176643372},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5352713465690613},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5226021409034729},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.5151740312576294},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4786216616630554},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4516635239124298},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4448591470718384},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.44245511293411255},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.42475032806396484},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3116375505924225},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.31148168444633484},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2766095995903015},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2737702429294586},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2571854591369629},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.24026277661323547},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16699567437171936},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09039977192878723}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8870768547058105},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.8041517734527588},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5708886384963989},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5676059126853943},{"id":"https://openalex.org/C42747912","wikidata":"https://www.wikidata.org/wiki/Q1048447","display_name":"Multiplicative function","level":2,"score":0.5554326176643372},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5352713465690613},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5226021409034729},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.5151740312576294},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4786216616630554},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4516635239124298},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4448591470718384},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.44245511293411255},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.42475032806396484},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3116375505924225},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.31148168444633484},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2766095995903015},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2737702429294586},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2571854591369629},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.24026277661323547},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16699567437171936},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09039977192878723},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icca.2017.8003033","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2017.8003033","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","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":24,"referenced_works":["https://openalex.org/W1509778129","https://openalex.org/W1545172576","https://openalex.org/W1897428682","https://openalex.org/W1968319411","https://openalex.org/W1985698310","https://openalex.org/W1986640079","https://openalex.org/W1996806390","https://openalex.org/W2016128293","https://openalex.org/W2017614802","https://openalex.org/W2022351578","https://openalex.org/W2049933349","https://openalex.org/W2062373349","https://openalex.org/W2066133236","https://openalex.org/W2100546477","https://openalex.org/W2103782731","https://openalex.org/W2111519493","https://openalex.org/W2114847465","https://openalex.org/W2149603687","https://openalex.org/W2158502702","https://openalex.org/W2344835091","https://openalex.org/W2386575110","https://openalex.org/W2524500622","https://openalex.org/W6630500636","https://openalex.org/W7055949033"],"related_works":["https://openalex.org/W2771027241","https://openalex.org/W2376449068","https://openalex.org/W4365392829","https://openalex.org/W2100998971","https://openalex.org/W2002811656","https://openalex.org/W2990087644","https://openalex.org/W2104457306","https://openalex.org/W3164341681","https://openalex.org/W2517897957","https://openalex.org/W4321601985"],"abstract_inverted_index":{"A":[0],"novel":[1],"adaptive":[2],"fault":[3],"tolerant":[4],"control":[5],"(AFTC)":[6],"method":[7],"based":[8],"on":[9],"backstepping":[10],"technique":[11],"is":[12,50,65,78],"proposed":[13,75],"for":[14],"the":[15,37,55,60,69,84,96,108],"attitude":[16,85],"tracking":[17,86],"of":[18,74,93,99],"a":[19,47,91],"quadrotor":[20],"subject":[21],"to":[22,52,67,90],"input":[23,56],"saturation":[24,57],"and":[25,30,36,59,95,102],"full-state":[26,70,110],"constraints.":[27,71],"Both":[28],"additive":[29],"multiplicative":[31],"actuator":[32,103],"faults,":[33],"model":[34],"uncertainty":[35],"time-varying":[38],"constraints":[39,111],"are":[40,105],"considered.":[41],"An":[42],"auxiliary":[43],"system":[44],"combined":[45],"with":[46,54],"command":[48],"filter":[49],"designed":[51],"deal":[53],"effect,":[58],"tan-type":[61],"barrier":[62],"Lyapunov":[63],"function":[64],"introduced":[66],"handle":[68],"The":[72],"stability":[73],"AFTC":[76],"scheme":[77],"mathematically":[79],"proved,":[80],"simulation":[81],"confirms":[82],"that":[83],"errors":[87,98],"will":[88,112],"converge":[89],"neighborhood":[92],"zero,":[94],"estimation":[97],"unknown":[100],"disturbances":[101],"faults":[104],"bounded.":[106],"Meanwhile,":[107],"required":[109],"not":[113],"be":[114],"violated":[115],"during":[116],"operation.":[117]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}