{"id":"https://openalex.org/W3000320868","doi":"https://doi.org/10.1109/icsc47195.2019.8950663","title":"Comparative Study of Control Approaches Designed for a Quadrotor in a Visual Servoing Task without Observers","display_name":"Comparative Study of Control Approaches Designed for a Quadrotor in a Visual Servoing Task without Observers","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W3000320868","doi":"https://doi.org/10.1109/icsc47195.2019.8950663","mag":"3000320868"},"language":"en","primary_location":{"id":"doi:10.1109/icsc47195.2019.8950663","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsc47195.2019.8950663","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 8th International Conference on Systems and Control (ICSC)","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/A5060444891","display_name":"Choukri Bensalah","orcid":"https://orcid.org/0000-0001-5838-7031"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I143002897","display_name":"Universit\u00e9 de Toulon","ror":"https://ror.org/02m9kbe37","country_code":"FR","type":"education","lineage":["https://openalex.org/I143002897"]},{"id":"https://openalex.org/I21491767","display_name":"Aix-Marseille Universit\u00e9","ror":"https://ror.org/035xkbk20","country_code":"FR","type":"education","lineage":["https://openalex.org/I21491767"]},{"id":"https://openalex.org/I4210114274","display_name":"Laboratoire d\u2019Informatique et Syst\u00e8mes","ror":"https://ror.org/0257sgk90","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I143002897","https://openalex.org/I21491767","https://openalex.org/I4210114274"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Choukri Bensalah","raw_affiliation_strings":["Aix Marseille University, Universit de Toulon,CNRS, LIS UMR,Marseille,France,7020","CNRS, LIS UMR, Aix Marseille University, Universit de Toulon, Marseille, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aix Marseille University, Universit de Toulon,CNRS, LIS UMR,Marseille,France,7020","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I143002897","https://openalex.org/I4210114274"]},{"raw_affiliation_string":"CNRS, LIS UMR, Aix Marseille University, Universit de Toulon, Marseille, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I143002897","https://openalex.org/I21491767","https://openalex.org/I4210114274"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066013027","display_name":"N.K. M\u2019Sirdi","orcid":"https://orcid.org/0000-0002-9485-6429"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I143002897","display_name":"Universit\u00e9 de Toulon","ror":"https://ror.org/02m9kbe37","country_code":"FR","type":"education","lineage":["https://openalex.org/I143002897"]},{"id":"https://openalex.org/I21491767","display_name":"Aix-Marseille Universit\u00e9","ror":"https://ror.org/035xkbk20","country_code":"FR","type":"education","lineage":["https://openalex.org/I21491767"]},{"id":"https://openalex.org/I4210114274","display_name":"Laboratoire d\u2019Informatique et Syst\u00e8mes","ror":"https://ror.org/0257sgk90","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I143002897","https://openalex.org/I21491767","https://openalex.org/I4210114274"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nacer K M\u2019Sirdi","raw_affiliation_strings":["Aix Marseille University, Universit de Toulon,CNRS, LIS UMR,Marseille,France,7020","CNRS, LIS UMR, Aix Marseille University, Universit de Toulon, Marseille, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aix Marseille University, Universit de Toulon,CNRS, LIS UMR,Marseille,France,7020","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I143002897","https://openalex.org/I4210114274"]},{"raw_affiliation_string":"CNRS, LIS UMR, Aix Marseille University, Universit de Toulon, Marseille, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I143002897","https://openalex.org/I21491767","https://openalex.org/I4210114274"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108123880","display_name":"Aziz Naamane","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I143002897","display_name":"Universit\u00e9 de Toulon","ror":"https://ror.org/02m9kbe37","country_code":"FR","type":"education","lineage":["https://openalex.org/I143002897"]},{"id":"https://openalex.org/I21491767","display_name":"Aix-Marseille Universit\u00e9","ror":"https://ror.org/035xkbk20","country_code":"FR","type":"education","lineage":["https://openalex.org/I21491767"]},{"id":"https://openalex.org/I4210114274","display_name":"Laboratoire d\u2019Informatique et Syst\u00e8mes","ror":"https://ror.org/0257sgk90","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I143002897","https://openalex.org/I21491767","https://openalex.org/I4210114274"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Aziz Naamane","raw_affiliation_strings":["Aix Marseille University, Universit de Toulon,CNRS, LIS UMR,Marseille,France,7020","CNRS, LIS UMR, Aix Marseille University, Universit de Toulon, Marseille, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aix Marseille University, Universit de Toulon,CNRS, LIS UMR,Marseille,France,7020","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I143002897","https://openalex.org/I4210114274"]},{"raw_affiliation_string":"CNRS, LIS UMR, Aix Marseille University, Universit de Toulon, Marseille, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I143002897","https://openalex.org/I21491767","https://openalex.org/I4210114274"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"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":"13","last_page":"20"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9993000030517578,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983000159263611,"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/visual-servoing","display_name":"Visual servoing","score":0.8214278221130371},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.7551418542861938},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7378803491592407},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.719667911529541},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6274909973144531},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6274423599243164},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5656718015670776},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.5066586136817932},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4688350558280945},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.43436452746391296},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4234594404697418},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3338068723678589},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32112812995910645},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2944679260253906},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.286361962556839},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.25664618611335754},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.20986586809158325}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.8214278221130371},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.7551418542861938},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7378803491592407},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.719667911529541},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6274909973144531},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6274423599243164},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5656718015670776},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.5066586136817932},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4688350558280945},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.43436452746391296},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4234594404697418},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3338068723678589},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32112812995910645},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2944679260253906},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.286361962556839},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.25664618611335754},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.20986586809158325},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/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/icsc47195.2019.8950663","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsc47195.2019.8950663","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 8th International Conference on Systems and Control (ICSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1577297395","https://openalex.org/W1970923953","https://openalex.org/W2017589019","https://openalex.org/W2037467395","https://openalex.org/W2040265712","https://openalex.org/W2081334268","https://openalex.org/W2082991751","https://openalex.org/W2103641605","https://openalex.org/W2122147410","https://openalex.org/W2143613953","https://openalex.org/W2155730953","https://openalex.org/W2167501464","https://openalex.org/W2168026168","https://openalex.org/W2332102049","https://openalex.org/W2485195986","https://openalex.org/W2690431733","https://openalex.org/W3006148701","https://openalex.org/W4251550110","https://openalex.org/W4301958477","https://openalex.org/W6773702585"],"related_works":["https://openalex.org/W2036311230","https://openalex.org/W3088355205","https://openalex.org/W2511965278","https://openalex.org/W3150198677","https://openalex.org/W3123253234","https://openalex.org/W2386766233","https://openalex.org/W2172163927","https://openalex.org/W2382591036","https://openalex.org/W1965449281","https://openalex.org/W2375429440"],"abstract_inverted_index":{"The":[0,17,57],"performance":[1,84],"and":[2,27,34,47,77,81,85,97,99],"characteristics":[3],"of":[4,49,55],"four":[5],"controllers":[6],"applied":[7],"to":[8,89,92],"a":[9],"quadrotor":[10],"UAV":[11,64],"are":[12,45],"analyzed":[13],"in":[14,65],"this":[15],"paper.":[16],"compared":[18],"control":[19,40],"approaches":[20],"are:":[21],"PID,":[22],"Linearizing":[23],"Feedback,":[24],"Backstepping":[25],"Approach":[26],"Sliding":[28],"Mode":[29],"based":[30,71],"control.":[31],"A":[32],"suitable":[33],"efficient":[35],"structure":[36],"is":[37,51,60,70],"proposed":[38],"for":[39,62],"laws":[41],"implementation.":[42],"Standard":[43],"sensors":[44,96],"used":[46],"need":[48],"observer":[50],"avoided":[52],"by":[53],"use":[54],"IBVS.":[56],"comparative":[58],"analysis":[59],"done":[61],"the":[63,83],"Visual":[66],"Servoing":[67],"Task.":[68],"It":[69],"on":[72,82],"tracking":[73],"errors":[74],"during":[75],"transients":[76],"at":[78],"steady":[79],"state,":[80],"robustness":[86],"with":[87],"respect":[88],"plant":[90],"model,":[91],"environment":[93],"perturbations":[94],"(in":[95],"actuators)":[98],"uncertainties.":[100]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}