{"id":"https://openalex.org/W3008695827","doi":"https://doi.org/10.1109/icra40945.2020.9197239","title":"Upset Recovery Control for Quadrotors Subjected to a Complete Rotor Failure from Large Initial Disturbances","display_name":"Upset Recovery Control for Quadrotors Subjected to a Complete Rotor Failure from Large Initial Disturbances","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3008695827","doi":"https://doi.org/10.1109/icra40945.2020.9197239","mag":"3008695827"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197239","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197239","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2002.09425","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002920414","display_name":"Sihao Sun","orcid":"https://orcid.org/0000-0002-8539-3979"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Sihao Sun","raw_affiliation_strings":["Faculty of Aerospace Engineering, Delft University of Technology, Delft, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Faculty of Aerospace Engineering, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019688029","display_name":"Matthias Baert","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Matthias Baert","raw_affiliation_strings":["Faculty of Aerospace Engineering, Delft University of Technology, Delft, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Faculty of Aerospace Engineering, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060076587","display_name":"Bram Strack van Schijndel","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Bram Strack van Schijndel","raw_affiliation_strings":["Faculty of Aerospace Engineering, Delft University of Technology, Delft, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Faculty of Aerospace Engineering, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008760854","display_name":"Coen C. de Visser","orcid":"https://orcid.org/0000-0002-4653-0002"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Coen de Visser","raw_affiliation_strings":["Faculty of Aerospace Engineering, Delft University of Technology, Delft, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Faculty of Aerospace Engineering, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5002920414"],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":1.6321,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.82994476,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4273","last_page":"4279"},"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12810","display_name":"Real-time simulation and control systems","score":0.9944999814033508,"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/upset","display_name":"Upset","score":0.7198233008384705},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.5546793937683105},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48408782482147217},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4276968836784363},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3942565321922302},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.34323787689208984},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2784545123577118},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.13737645745277405},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.13159996271133423},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08973664045333862}],"concepts":[{"id":"https://openalex.org/C2778002589","wikidata":"https://www.wikidata.org/wiki/Q2406791","display_name":"Upset","level":2,"score":0.7198233008384705},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.5546793937683105},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48408782482147217},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4276968836784363},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3942565321922302},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.34323787689208984},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2784545123577118},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.13737645745277405},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13159996271133423},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08973664045333862}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra40945.2020.9197239","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197239","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2002.09425","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2002.09425","pdf_url":"https://arxiv.org/pdf/2002.09425","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2002.09425","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2002.09425","pdf_url":"https://arxiv.org/pdf/2002.09425","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1562603105","https://openalex.org/W1973734421","https://openalex.org/W1991642951","https://openalex.org/W2006187520","https://openalex.org/W2009886077","https://openalex.org/W2018431869","https://openalex.org/W2030869787","https://openalex.org/W2038505375","https://openalex.org/W2062803637","https://openalex.org/W2069426496","https://openalex.org/W2076434530","https://openalex.org/W2121326487","https://openalex.org/W2143770667","https://openalex.org/W2146460314","https://openalex.org/W2218541282","https://openalex.org/W2337964910","https://openalex.org/W2766040414","https://openalex.org/W2800687011","https://openalex.org/W2811286299","https://openalex.org/W2811472176","https://openalex.org/W2921917588","https://openalex.org/W2958171580","https://openalex.org/W3002591267","https://openalex.org/W3142784664","https://openalex.org/W3177215579","https://openalex.org/W6681414768","https://openalex.org/W6745546373"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2028180791","https://openalex.org/W607682241","https://openalex.org/W320153218","https://openalex.org/W2352434195","https://openalex.org/W2619155","https://openalex.org/W2361293896","https://openalex.org/W1968403090","https://openalex.org/W2382487896","https://openalex.org/W3090758769"],"abstract_inverted_index":{"This":[0,28],"study":[1],"has":[2],"developed":[3],"a":[4,12,26,33,42,51,54,79],"fault-tolerant":[5],"controller":[6],"that":[7,112],"is":[8,60],"able":[9],"to":[10,84],"recover":[11,117],"quadrotor":[13,95,115],"from":[14,96],"arbitrary":[15,97],"initial":[16,98],"orientations":[17],"and":[18,41,62],"angular":[19,58],"velocities,":[20],"despite":[21],"the":[22,65,71,86,89,94,113,123],"complete":[23],"failure":[24],"of":[25,56,81,88,92],"rotor.":[27],"cascaded":[29],"control":[30,43,66],"method":[31,45,91],"includes":[32],"position/altitude":[34],"controller,":[35,40],"an":[36],"almost-global":[37],"convergence":[38],"attitude":[39],"allocation":[44],"based":[46],"on":[47],"quadratic":[48],"programming.":[49],"As":[50],"major":[52],"novelty,":[53],"constraint":[55],"undesirable":[57],"velocity":[59],"derived":[61],"fused":[63],"into":[64,122],"allocator,":[67],"which":[68],"significantly":[69],"improves":[70],"recovery":[72],"performance.":[73],"For":[74],"validation,":[75],"we":[76],"have":[77,106],"conducted":[78],"set":[80],"Monte-Carlo":[82],"simulation":[83],"test":[85],"reliability":[87],"proposed":[90],"recovering":[93],"attitude/rate":[99],"conditions.":[100],"In":[101],"addition,":[102],"real-life":[103],"flight":[104],"tests":[105],"been":[107],"performed.":[108],"The":[109],"results":[110],"demonstrate":[111],"post-failure":[114],"can":[116],"after":[118],"being":[119],"casually":[120],"tossed":[121],"air.":[124]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2020-03-06T00:00:00"}