{"id":"https://openalex.org/W4287846203","doi":"https://doi.org/10.1109/icca54724.2022.9831834","title":"Quaternion Based Twisting and Backstepping Control Design of Quadrotor","display_name":"Quaternion Based Twisting and Backstepping Control Design of Quadrotor","publication_year":2022,"publication_date":"2022-06-27","ids":{"openalex":"https://openalex.org/W4287846203","doi":"https://doi.org/10.1109/icca54724.2022.9831834"},"language":"en","primary_location":{"id":"doi:10.1109/icca54724.2022.9831834","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca54724.2022.9831834","pdf_url":null,"source":{"id":"https://openalex.org/S4363608132","display_name":"2022 IEEE 17th International Conference on Control & Automation (ICCA)","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 17th 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/A5046430410","display_name":"Heera Lal Maurya","orcid":"https://orcid.org/0000-0003-2473-1396"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Heera Lal Maurya","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009450839","display_name":"Padmini Singh","orcid":"https://orcid.org/0000-0002-4337-0947"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Padmini Singh","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032983212","display_name":"Subhash Chand Yogi","orcid":"https://orcid.org/0000-0002-9494-5763"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Subhash Chand Yogi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065056581","display_name":"Laxmidhar Behera","orcid":"https://orcid.org/0000-0003-1879-5609"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Laxmidhar Behera","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5014147535","display_name":"Nishchal K. Verma","orcid":"https://orcid.org/0000-0001-8752-5616"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nishchal K. Verma","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5046430410"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5548,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.5690924,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"19","issue":null,"first_page":"516","last_page":"521"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"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":0.9973000288009644,"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/backstepping","display_name":"Backstepping","score":0.920055627822876},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.8688328266143799},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8664183616638184},{"id":"https://openalex.org/keywords/inner-loop","display_name":"Inner loop","score":0.6934066414833069},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.6244825124740601},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6045901775360107},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.5734766125679016},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5267172455787659},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.5153028964996338},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4241294264793396},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.41747602820396423},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3588784337043762},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.34296149015426636},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.2803961932659149},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25669750571250916},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2504798173904419},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13236147165298462},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.12848633527755737},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11072671413421631}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.920055627822876},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.8688328266143799},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8664183616638184},{"id":"https://openalex.org/C58716799","wikidata":"https://www.wikidata.org/wiki/Q6035648","display_name":"Inner loop","level":3,"score":0.6934066414833069},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.6244825124740601},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6045901775360107},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.5734766125679016},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5267172455787659},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.5153028964996338},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4241294264793396},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.41747602820396423},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3588784337043762},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.34296149015426636},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.2803961932659149},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25669750571250916},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2504798173904419},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13236147165298462},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.12848633527755737},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11072671413421631},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icca54724.2022.9831834","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca54724.2022.9831834","pdf_url":null,"source":{"id":"https://openalex.org/S4363608132","display_name":"2022 IEEE 17th International Conference on Control & Automation (ICCA)","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 17th International Conference on Control & Automation (ICCA)","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":16,"referenced_works":["https://openalex.org/W1912829551","https://openalex.org/W2077537048","https://openalex.org/W2080868110","https://openalex.org/W2097020018","https://openalex.org/W2098536261","https://openalex.org/W2101489562","https://openalex.org/W2115223243","https://openalex.org/W2125691646","https://openalex.org/W2153807823","https://openalex.org/W2167740672","https://openalex.org/W2341206624","https://openalex.org/W2470487727","https://openalex.org/W2548642014","https://openalex.org/W3088177493","https://openalex.org/W6720468800","https://openalex.org/W6783905242"],"related_works":["https://openalex.org/W2370734581","https://openalex.org/W2368484960","https://openalex.org/W4309462258","https://openalex.org/W2094011599","https://openalex.org/W1541746961","https://openalex.org/W2892019095","https://openalex.org/W2163045496","https://openalex.org/W1482547037","https://openalex.org/W4403937391","https://openalex.org/W4366779513"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"quaternion":[3,12,78],"based":[4],"twisting":[5,58],"and":[6,37,53,83],"backstepping":[7,52],"controller":[8,29,50,86],"for":[9,33,103],"quadrotor.":[10],"The":[11],"model":[13],"is":[14,30,39,51,57,63,74,94],"free":[15],"from":[16],"singularity":[17],"problem":[18],"unlike":[19],"the":[20,40,45,109,112],"Newton":[21],"Eulers":[22],"model.":[23,79],"There":[24],"are":[25,87,101],"two":[26],"types":[27],"of":[28,111],"designed,":[31],"one":[32],"inner":[34,48,81],"loop":[35,42,49,55,61,82,85],"control":[36,56,62,71],"second":[38],"outer":[41,54,84],"control.":[43,59,68],"In":[44,69],"proposed":[46,113],"work":[47],"Inner":[60],"also":[64],"termed":[65],"as":[66],"attitude":[67,70],"reference":[72,77],"velocity":[73],"generated":[75,105],"using":[76,96],"Both":[80],"robust":[88],"enough":[89],"to":[90,107],"handel":[91],"disturbances.":[92],"Stability":[93],"guaranteed":[95],"Lyapunov":[97],"method.":[98,114],"Simulation":[99],"results":[100],"presented":[102],"different":[104],"paths":[106],"show":[108],"advantage":[110]},"counts_by_year":[{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}