{"id":"https://openalex.org/W2583175451","doi":"https://doi.org/10.1109/icinfa.2016.7831807","title":"Cascade PID controller for quadrotor","display_name":"Cascade PID controller for quadrotor","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2583175451","doi":"https://doi.org/10.1109/icinfa.2016.7831807","mag":"2583175451"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2016.7831807","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2016.7831807","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Information and Automation (ICIA)","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/A5110312947","display_name":"Jiao Ren","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiao Ren","raw_affiliation_strings":["Key Laboratory of Human-Machine Intelligence Synergic Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences","Shenzhen College of Advanced Technology, Chinese Academy of Sciences"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Human-Machine Intelligence Synergic Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Shenzhen College of Advanced Technology, Chinese Academy of Sciences","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088160027","display_name":"Du-Xin Liu","orcid":"https://orcid.org/0000-0003-3483-3820"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Du-Xin Liu","raw_affiliation_strings":["Key Laboratory of Human-Machine Intelligence Synergic Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences","Chinese Academy of Sciences, Guangdong Provincial Key Lab of Robotics and Intelligent System"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Human-Machine Intelligence Synergic Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Guangdong Provincial Key Lab of Robotics and Intelligent System","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100457008","display_name":"Kang Li","orcid":"https://orcid.org/0000-0003-4919-956X"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kang Li","raw_affiliation_strings":["Key Laboratory of Human-Machine Intelligence Synergic Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences","Chinese Academy of Sciences, Guangdong Provincial Key Lab of Robotics and Intelligent System"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Human-Machine Intelligence Synergic Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Guangdong Provincial Key Lab of Robotics and Intelligent System","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079510458","display_name":"Jia Liu","orcid":"https://orcid.org/0000-0003-2363-8798"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jia Liu","raw_affiliation_strings":["Key Laboratory of Human-Machine Intelligence Synergic Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences","Chinese Academy of Sciences, Guangdong Provincial Key Lab of Robotics and Intelligent System"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Human-Machine Intelligence Synergic Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Guangdong Provincial Key Lab of Robotics and Intelligent System","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100628033","display_name":"Yachun Feng","orcid":"https://orcid.org/0009-0003-5891-8674"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yachun Feng","raw_affiliation_strings":["Key Laboratory of Human-Machine Intelligence Synergic Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences","Chinese Academy of Sciences, Guangdong Provincial Key Lab of Robotics and Intelligent System"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Human-Machine Intelligence Synergic Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Guangdong Provincial Key Lab of Robotics and Intelligent System","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102203399","display_name":"Xiaoxin Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiaoxin Lin","raw_affiliation_strings":["Sun East Electronic Technology (Shenzhen) Co. Ltd"],"affiliations":[{"raw_affiliation_string":"Sun East Electronic Technology (Shenzhen) Co. Ltd","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5110312947"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210145761"],"apc_list":null,"apc_paid":null,"fwci":1.6249,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.85841479,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"2016","issue":null,"first_page":"120","last_page":"124"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.996399998664856,"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/T11081","display_name":"Advanced Control Systems Design","score":0.9962999820709229,"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/pid-controller","display_name":"PID controller","score":0.8640100955963135},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8513979911804199},{"id":"https://openalex.org/keywords/setpoint","display_name":"Setpoint","score":0.8459910154342651},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.7441810965538025},{"id":"https://openalex.org/keywords/open-loop-controller","display_name":"Open-loop controller","score":0.654201865196228},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6471477746963501},{"id":"https://openalex.org/keywords/inner-loop","display_name":"Inner loop","score":0.4990806579589844},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.47299203276634216},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46456944942474365},{"id":"https://openalex.org/keywords/debugging","display_name":"Debugging","score":0.44832366704940796},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4239172339439392},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31208473443984985},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.1724674105644226},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1663174033164978},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13983085751533508},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.10063698887825012},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06812435388565063}],"concepts":[{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.8640100955963135},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8513979911804199},{"id":"https://openalex.org/C12302492","wikidata":"https://www.wikidata.org/wiki/Q1752097","display_name":"Setpoint","level":2,"score":0.8459910154342651},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.7441810965538025},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.654201865196228},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6471477746963501},{"id":"https://openalex.org/C58716799","wikidata":"https://www.wikidata.org/wiki/Q6035648","display_name":"Inner loop","level":3,"score":0.4990806579589844},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.47299203276634216},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46456944942474365},{"id":"https://openalex.org/C168065819","wikidata":"https://www.wikidata.org/wiki/Q845566","display_name":"Debugging","level":2,"score":0.44832366704940796},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4239172339439392},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31208473443984985},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.1724674105644226},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1663174033164978},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13983085751533508},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.10063698887825012},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06812435388565063},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icinfa.2016.7831807","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2016.7831807","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Information and Automation (ICIA)","raw_type":"proceedings-article"},{"id":"mag:2752897152","is_oa":false,"landing_page_url":"http://jglobal.jst.go.jp/en/public/20090422/201702245048147599","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","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":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1515683276","https://openalex.org/W1941749034","https://openalex.org/W1969792502","https://openalex.org/W2011420213","https://openalex.org/W2121732594","https://openalex.org/W2245068573","https://openalex.org/W2339858509","https://openalex.org/W2377192790","https://openalex.org/W3011254895","https://openalex.org/W4244284111","https://openalex.org/W6630861416","https://openalex.org/W6690985024","https://openalex.org/W6703494008"],"related_works":["https://openalex.org/W1495927848","https://openalex.org/W4205962020","https://openalex.org/W2667392788","https://openalex.org/W172676736","https://openalex.org/W2169601993","https://openalex.org/W1971292522","https://openalex.org/W204648549","https://openalex.org/W4244904831","https://openalex.org/W2734611617","https://openalex.org/W2177389443"],"abstract_inverted_index":{"Aiming":[0],"at":[1],"the":[2,48,62,85,94,105,114],"attitude":[3],"stabilization":[4,109],"and":[5,26,100,108,117],"angle":[6],"tracking":[7],"control":[8],"of":[9,64,89],"quadrotor":[10],"aircraft,":[11],"an":[12,38,56],"optimized":[13],"cascade":[14],"double-loop":[15],"PI-PID":[16],"controller":[17,35,53,67,96],"is":[18,21,81,97,111],"proposed.":[19],"It":[20],"based":[22],"on":[23],"strong":[24],"coupling":[25],"nonlinear":[27],"dynamic":[28,107],"model":[29],"in":[30],"this":[31],"paper.":[32],"A":[33],"PI":[34],"acts":[36,54],"as":[37,55,68],"outer":[39,65],"loop":[40,58,66],"controller,":[41,59],"which":[42,60],"controls":[43],"primary":[44],"physical":[45],"parameter,":[46,74],"namely":[47,75],"attitude.":[49],"The":[50,87],"other":[51],"PID":[52],"inner":[57],"reads":[61],"output":[63],"setpoint,":[69],"controlling":[70],"a":[71],"rapid":[72],"changing":[73],"angular":[76],"velocity.":[77],"Hardware":[78],"debugging":[79],"platform":[80],"established":[82],"to":[83],"verify":[84],"controller.":[86],"results":[88],"simulation":[90],"experiments":[91],"show":[92],"that":[93],"proposed":[95],"highly":[98],"adaptable":[99],"has":[101],"fast":[102],"response.":[103],"And":[104],"superior":[106],"performance":[110],"proved":[112],"by":[113],"pole-zero":[115],"maps":[116],"bode":[118],"diagrams.":[119]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}