{"id":"https://openalex.org/W4285102441","doi":"https://doi.org/10.1109/icra46639.2022.9812065","title":"An Adaptive PID Autotuner for Multicopters with Experimental Results","display_name":"An Adaptive PID Autotuner for Multicopters with Experimental Results","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102441","doi":"https://doi.org/10.1109/icra46639.2022.9812065"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812065","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812065","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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 International Conference on Robotics and Automation (ICRA)","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/A5074758253","display_name":"J. R. Spencer","orcid":"https://orcid.org/0000-0003-4452-8109"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Spencer","raw_affiliation_strings":["University of Michigan,Department of Aerospace Engineering,Ann Arbor,MI,48109"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Aerospace Engineering,Ann Arbor,MI,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065463133","display_name":"Joonghyun Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joonghyun Lee","raw_affiliation_strings":["University of Michigan,Department of Aerospace Engineering,Ann Arbor,MI,48109"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Aerospace Engineering,Ann Arbor,MI,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035998370","display_name":"Juan A. Paredes","orcid":"https://orcid.org/0000-0001-7486-1231"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Juan Augusto Paredes","raw_affiliation_strings":["University of Michigan,Department of Aerospace Engineering,Ann Arbor,MI,48109"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Aerospace Engineering,Ann Arbor,MI,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036467105","display_name":"Ankit Goel","orcid":"https://orcid.org/0000-0002-4146-6275"},"institutions":[{"id":"https://openalex.org/I79272384","display_name":"University of Maryland, Baltimore County","ror":"https://ror.org/02qskvh78","country_code":"US","type":"education","lineage":["https://openalex.org/I79272384"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ankit Goel","raw_affiliation_strings":["University of Maryland,Department of Mechanical Engineering,Baltimore County,Md,21250"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Maryland,Department of Mechanical Engineering,Baltimore County,Md,21250","institution_ids":["https://openalex.org/I79272384"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009770702","display_name":"Dennis S. Bernstein","orcid":"https://orcid.org/0000-0003-0399-3039"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dennis Bernstein","raw_affiliation_strings":["University of Michigan,Department of Aerospace Engineering,Ann Arbor,MI,48109"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Aerospace Engineering,Ann Arbor,MI,48109","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.079,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.98371351,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7846","last_page":"7853"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994000196456909,"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":0.9994000196456909,"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/T14083","display_name":"Extremum Seeking Control Systems","score":0.9987000226974487,"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":0.9975000023841858,"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/autopilot","display_name":"Autopilot","score":0.9696458578109741},{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.8382900953292847},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.7009787559509277},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6995273232460022},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6293582320213318},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5670871734619141},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4258521497249603},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26796603202819824},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22420388460159302},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11384475231170654},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08071392774581909},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.06448638439178467}],"concepts":[{"id":"https://openalex.org/C18020424","wikidata":"https://www.wikidata.org/wiki/Q220858","display_name":"Autopilot","level":2,"score":0.9696458578109741},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.8382900953292847},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.7009787559509277},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6995273232460022},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6293582320213318},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5670871734619141},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4258521497249603},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26796603202819824},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22420388460159302},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11384475231170654},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08071392774581909},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.06448638439178467},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9812065","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812065","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3381403468","display_name":null,"funder_award_id":"N00014-19-1-2273","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1566317684","https://openalex.org/W1578294898","https://openalex.org/W1667913690","https://openalex.org/W1993428686","https://openalex.org/W2003272792","https://openalex.org/W2018431869","https://openalex.org/W2043151145","https://openalex.org/W2100546477","https://openalex.org/W2134790752","https://openalex.org/W2294949299","https://openalex.org/W2516781553","https://openalex.org/W2534218318","https://openalex.org/W2558435735","https://openalex.org/W2598114919","https://openalex.org/W2741377310","https://openalex.org/W2754203428","https://openalex.org/W2771861361","https://openalex.org/W2787180244","https://openalex.org/W2794663583","https://openalex.org/W2897721369","https://openalex.org/W2906940582","https://openalex.org/W2908513653","https://openalex.org/W2910141365","https://openalex.org/W2914308387","https://openalex.org/W2953414277","https://openalex.org/W2973191244","https://openalex.org/W2979761382","https://openalex.org/W2981154935","https://openalex.org/W3010525302","https://openalex.org/W3019054139","https://openalex.org/W3045874295","https://openalex.org/W3092024884","https://openalex.org/W3099755779","https://openalex.org/W3107589831","https://openalex.org/W3128675244","https://openalex.org/W3184070115","https://openalex.org/W6729787890","https://openalex.org/W6742157849","https://openalex.org/W6758137457"],"related_works":["https://openalex.org/W4293056360","https://openalex.org/W4386804942","https://openalex.org/W2966028239","https://openalex.org/W3149041490","https://openalex.org/W2366123023","https://openalex.org/W2090743753","https://openalex.org/W4399767831","https://openalex.org/W4320922540","https://openalex.org/W82747921","https://openalex.org/W4384916966"],"abstract_inverted_index":{"This":[0],"paper":[1],"develops":[2],"an":[3],"adaptive":[4,19,27],"PID":[5],"autotuner":[6,16,78],"for":[7],"multicopters,":[8],"and":[9,12,90,96],"presents":[10],"simulation":[11],"experimental":[13],"results.":[14],"The":[15,48],"consists":[17],"of":[18,76,85,93],"digital":[20],"control":[21,28],"laws":[22],"based":[23],"on":[24],"retrospective":[25],"cost":[26],"implemented":[29],"in":[30],"the":[31,42,55,66,74,77,80,83,86,91,94,105,109],"PX4":[32,57],"flight":[33],"stack.":[34],"A":[35],"learning":[36],"trajectory":[37,63],"is":[38,51,88,99,102],"used":[39],"to":[40,72,79],"optimize":[41],"autopilot":[43,50,58,98,107],"during":[44],"a":[45,61],"single":[46],"flight.":[47],"autotuned":[49,95,106],"then":[52],"compared":[53],"with":[54],"default":[56,97,110],"by":[59],"flying":[60],"test":[62],"constructed":[64],"using":[65],"second-order":[67],"Hilbert":[68],"curve.":[69],"In":[70],"order":[71],"investigate":[73],"sensitivity":[75],"quadcopter":[81,87],"dynamics,":[82],"mass":[84],"varied,":[89],"performance":[92],"compared.":[100],"It":[101],"observed":[103],"that":[104],"outperforms":[108],"autopilot.":[111]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}