{"id":"https://openalex.org/W4402219134","doi":"https://doi.org/10.1109/icrca60878.2024.10649121","title":"Agile Flight Control Using Incremental Nonlinear Dynamic Inversion with Highly Realistic Model of Actuator","display_name":"Agile Flight Control Using Incremental Nonlinear Dynamic Inversion with Highly Realistic Model of Actuator","publication_year":2024,"publication_date":"2024-01-12","ids":{"openalex":"https://openalex.org/W4402219134","doi":"https://doi.org/10.1109/icrca60878.2024.10649121"},"language":"en","primary_location":{"id":"doi:10.1109/icrca60878.2024.10649121","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icrca60878.2024.10649121","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 8th International Conference on Robotics, Control and Automation (ICRCA)","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/A5065762749","display_name":"Zeliang Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zeliang Wu","raw_affiliation_strings":["School of Aerospace Engineering, Beijing Institute of Technology,Beijing,China"],"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Beijing Institute of Technology,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026487222","display_name":"Jianchuan Ye","orcid":"https://orcid.org/0000-0002-2625-4872"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianchuan Ye","raw_affiliation_strings":["Tsinghua University,Department of Computer Science and Technology,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Computer Science and Technology,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5118899931","display_name":"Tao Song","orcid":"https://orcid.org/0000-0002-4238-0975"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Song","raw_affiliation_strings":["School of Aerospace Engineering, Beijing Institute of Technology,Beijing,China"],"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Beijing Institute of Technology,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5065762749"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.15946443,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"123","issue":null,"first_page":"278","last_page":"289"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9995999932289124,"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":0.9995999932289124,"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/T11749","display_name":"Iterative Learning Control 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/T10876","display_name":"Fault Detection and Control Systems","score":0.9986000061035156,"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/actuator","display_name":"Actuator","score":0.7666105031967163},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6489989757537842},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6146689057350159},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.5879130363464355},{"id":"https://openalex.org/keywords/inversion","display_name":"Inversion (geology)","score":0.5792407393455505},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5767282247543335},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.49127644300460815},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4593944549560547},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.33948904275894165},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2456992268562317},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14315026998519897},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12594982981681824},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.11929446458816528}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7666105031967163},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6489989757537842},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6146689057350159},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.5879130363464355},{"id":"https://openalex.org/C1893757","wikidata":"https://www.wikidata.org/wiki/Q3653001","display_name":"Inversion (geology)","level":3,"score":0.5792407393455505},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5767282247543335},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.49127644300460815},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4593944549560547},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33948904275894165},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2456992268562317},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14315026998519897},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12594982981681824},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.11929446458816528},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C109007969","wikidata":"https://www.wikidata.org/wiki/Q749565","display_name":"Structural basin","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icrca60878.2024.10649121","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icrca60878.2024.10649121","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 8th International Conference on Robotics, Control and Automation (ICRCA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5699999928474426}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1561053133","https://openalex.org/W1856661195","https://openalex.org/W1989900854","https://openalex.org/W2000803795","https://openalex.org/W2012177449","https://openalex.org/W2040741174","https://openalex.org/W2081847544","https://openalex.org/W2098711104","https://openalex.org/W2272906359","https://openalex.org/W2294747335","https://openalex.org/W2334360942","https://openalex.org/W2335182094","https://openalex.org/W2498803165","https://openalex.org/W2531522773","https://openalex.org/W2742196814","https://openalex.org/W2769498435","https://openalex.org/W2781903340","https://openalex.org/W2782399345","https://openalex.org/W2895771111","https://openalex.org/W2980633787","https://openalex.org/W3036408458","https://openalex.org/W3089385781","https://openalex.org/W3195230107","https://openalex.org/W3206359858","https://openalex.org/W4206772561","https://openalex.org/W4311869830"],"related_works":["https://openalex.org/W2656997359","https://openalex.org/W2094372386","https://openalex.org/W1973385172","https://openalex.org/W4319430762","https://openalex.org/W2083510688","https://openalex.org/W2294820933","https://openalex.org/W2119783256","https://openalex.org/W4234906596","https://openalex.org/W4229591372","https://openalex.org/W2071544734"],"abstract_inverted_index":{"Aggressive":[0],"flight":[1,32],"is":[2],"the":[3,8,48,59,98,115,121,139,142,148,152],"central":[4],"prerequisite":[5],"to":[6,31,46],"expanding":[7],"application":[9],"of":[10,80,92,141,154,159],"quadrotors":[11],"into":[12,114],"complex":[13],"and":[14,24,62,71,105,130,147,161],"agile":[15],"tasks.":[16],"However,":[17],"it":[18],"will":[19],"introduce":[20],"severe":[21],"model":[22,99,113],"uncertainty":[23,63],"significant":[25,29],"interference,":[26],"which":[27,86],"poses":[28],"challenges":[30],"control.":[33],"This":[34],"paper":[35],"proposes":[36],"a":[37,75,88,109,131],"novel":[38],"incremental":[39],"nonlinear":[40,77],"dynamic":[41,78,123],"inversion":[42],"(INDI)-":[43],"based":[44],"controller":[45],"address":[47],"urgent":[49],"demand":[50],"for":[51],"response":[52,124,160],"speed":[53],"in":[54,145,157],"aggressive":[55],"flights":[56],"without":[57],"compromising":[58],"disturbances":[60],"rejection":[61],"tolerance":[64],"ability.":[65],"First,":[66],"through":[67],"mechanistic":[68],"modeling":[69],"theory":[70],"wind":[72],"tunnel":[73],"tests,":[74],"high-fidelity":[76,110],"representation":[79],"quadrotor":[81],"thrust":[82,111],"units":[83],"was":[84,134],"established,":[85],"provided":[87],"more":[89],"precise":[90],"depiction":[91],"UAV":[93],"dynamics,":[94],"thus":[95],"markedly":[96],"reducing":[97],"uncertainty.":[100],"Second,":[101],"we":[102,137],"theoretically":[103],"analyzed":[104],"demonstrated":[106],"that":[107],"introducing":[108],"unit":[112],"INDI":[116],"algorithm":[117],"could":[118],"notably":[119],"improve":[120],"system's":[122],"while":[125],"maintaining":[126],"excellent":[127],"robustness":[128],"simultaneously,":[129],"control":[132],"scheme":[133],"designed.":[135],"Finally,":[136],"evaluated":[138],"performances":[140],"proposed":[143],"method":[144,156],"simulation":[146],"results":[149],"clearly":[150],"showed":[151],"superiority":[153],"our":[155],"terms":[158],"convergence":[162],"speed,":[163],"trajectory":[164],"tracking":[165],"accuracy.":[166]},"counts_by_year":[],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}