{"id":"https://openalex.org/W4401416417","doi":"https://doi.org/10.1109/icra57147.2024.10611350","title":"Relaxed Hover Solution Based Control for a Bi-copter with Rotor and Servo Stuck Failure","display_name":"Relaxed Hover Solution Based Control for a Bi-copter with Rotor and Servo Stuck Failure","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416417","doi":"https://doi.org/10.1109/icra57147.2024.10611350"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611350","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611350","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 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/A5111144972","display_name":"Haixin Zhao","orcid":"https://orcid.org/0009-0009-2175-7321"},"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":"Haixin Zhao","raw_affiliation_strings":["Beihang University,School of Automation Science and Electrical Engineering,Beijing,P.R. China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,School of Automation Science and Electrical Engineering,Beijing,P.R. China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100639939","display_name":"Ruifeng Li","orcid":"https://orcid.org/0000-0002-1383-7745"},"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":"Ruifeng Li","raw_affiliation_strings":["Beihang University,School of Automation Science and Electrical Engineering,Beijing,P.R. China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,School of Automation Science and Electrical Engineering,Beijing,P.R. China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058029021","display_name":"Quan Quan","orcid":"https://orcid.org/0000-0001-8216-8998"},"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":"Quan Quan","raw_affiliation_strings":["Beihang University,School of Automation Science and Electrical Engineering,Beijing,P.R. China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,School of Automation Science and Electrical Engineering,Beijing,P.R. China,100191","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":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"15517","last_page":"15523"},"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/T11602","display_name":"Magnetic Bearings and Levitation Dynamics","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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9991999864578247,"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":0.605104923248291},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.5963727831840515},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5933589339256287},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.538529634475708},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.483917772769928},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39366453886032104},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.351499080657959},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20985102653503418},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1827433705329895},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.06981527805328369}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.605104923248291},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.5963727831840515},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5933589339256287},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.538529634475708},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.483917772769928},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39366453886032104},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.351499080657959},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20985102653503418},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1827433705329895},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.06981527805328369}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611350","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611350","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1552300625","https://openalex.org/W1567463184","https://openalex.org/W2010856512","https://openalex.org/W2062803637","https://openalex.org/W2066719315","https://openalex.org/W2098432798","https://openalex.org/W2125691646","https://openalex.org/W2337964910","https://openalex.org/W2415585002","https://openalex.org/W2555041734","https://openalex.org/W2563172759","https://openalex.org/W2683298768","https://openalex.org/W2955663870","https://openalex.org/W2980589297","https://openalex.org/W3008672204","https://openalex.org/W3118237654","https://openalex.org/W3172199991","https://openalex.org/W4213414279","https://openalex.org/W4295046597","https://openalex.org/W4295872854","https://openalex.org/W4382050618","https://openalex.org/W4385413536","https://openalex.org/W4387385766","https://openalex.org/W6674995601"],"related_works":["https://openalex.org/W2002921851","https://openalex.org/W2011726581","https://openalex.org/W2895398410","https://openalex.org/W2348363276","https://openalex.org/W3005237993","https://openalex.org/W2909807275","https://openalex.org/W2348489906","https://openalex.org/W2162346626","https://openalex.org/W2071272545","https://openalex.org/W1989779914"],"abstract_inverted_index":{"As":[0],"the":[1,11,18,40,105,112,115,119,131],"usage":[2],"of":[3,114],"bi-copters":[4,15],"increases":[5],"in":[6,130],"military":[7],"and":[8,50,128],"civilian":[9],"fields,":[10],"demand":[12],"for":[13,39,58],"reliable":[14],"is":[16,37,56,93,122],"on":[17,23,65,80],"rise.":[19],"This":[20],"study":[21],"focuses":[22],"controlling":[24],"a":[25,60,76,81],"bi-copter":[26,106],"under":[27,124],"rotor":[28,49,98],"or":[29,99],"servo":[30,51,100],"stuck":[31,52,101],"failure.":[32],"A":[33],"relaxed":[34,108],"hover":[35,72,109],"solution":[36,55],"derived":[38],"bi-copter,":[41],"by":[42,103],"solving":[43],"an":[44],"optimization":[45],"problem":[46],"subject":[47],"to":[48,88],"failures.":[53],"The":[54,83],"used":[57],"designing":[59],"reduced":[61],"attitude":[62],"controller":[63,78],"based":[64,79],"linear":[66],"quadratic":[67],"regulator":[68],"(LQR).":[69],"To":[70],"ensure":[71],"capability,":[73],"we":[74],"introduce":[75],"position":[77,91],"cascaded-PID.":[82],"numerical":[84],"simulations":[85],"are":[86],"conducted":[87],"demonstrate":[89],"that":[90],"control":[92],"possible,":[94],"even":[95],"with":[96],"complete":[97],"failure,":[102],"driving":[104],"into":[107],"state":[110],"through":[111],"abandonment":[113],"yaw":[116],"channel.":[117],"Meanwhile,":[118],"FTC":[120],"scheme":[121],"examined":[123],"constant":[125],"wind":[126],"disturbances":[127],"uncertainties":[129],"rotational":[132],"damping":[133],"parameters.":[134]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}