{"id":"https://openalex.org/W2991016219","doi":"https://doi.org/10.1109/icves.2019.8906364","title":"A Realistic Model Predictive Control using Single and Multiple Shooting in the Formulation of Non-linear Programming Model","display_name":"A Realistic Model Predictive Control using Single and Multiple Shooting in the Formulation of Non-linear Programming Model","publication_year":2019,"publication_date":"2019-09-01","ids":{"openalex":"https://openalex.org/W2991016219","doi":"https://doi.org/10.1109/icves.2019.8906364","mag":"2991016219"},"language":"en","primary_location":{"id":"doi:10.1109/icves.2019.8906364","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icves.2019.8906364","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","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/A5040834903","display_name":"Ali S. Hussein","orcid":null},"institutions":[{"id":"https://openalex.org/I96823368","display_name":"German University in Cairo","ror":"https://ror.org/03rjt0z37","country_code":"EG","type":"education","lineage":["https://openalex.org/I96823368"]}],"countries":["EG"],"is_corresponding":true,"raw_author_name":"Ali S. Hussein","raw_affiliation_strings":["German University in Cairo (GUC),Multi-Robot Systems (MRS) Research Group,Egypt","Multi-Robot Systems (MRS) Research Group, German University in Cairo (GUC), Egypt"],"affiliations":[{"raw_affiliation_string":"German University in Cairo (GUC),Multi-Robot Systems (MRS) Research Group,Egypt","institution_ids":["https://openalex.org/I96823368"]},{"raw_affiliation_string":"Multi-Robot Systems (MRS) Research Group, German University in Cairo (GUC), Egypt","institution_ids":["https://openalex.org/I96823368"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025295346","display_name":"Catherine M. Elias","orcid":"https://orcid.org/0000-0002-1444-9816"},"institutions":[{"id":"https://openalex.org/I96823368","display_name":"German University in Cairo","ror":"https://ror.org/03rjt0z37","country_code":"EG","type":"education","lineage":["https://openalex.org/I96823368"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Catherine M. Elias","raw_affiliation_strings":["German University in Cairo (GUC),Multi-Robot Systems (MRS) Research Group,Egypt","Multi-Robot Systems (MRS) Research Group, German University in Cairo (GUC), Egypt"],"affiliations":[{"raw_affiliation_string":"German University in Cairo (GUC),Multi-Robot Systems (MRS) Research Group,Egypt","institution_ids":["https://openalex.org/I96823368"]},{"raw_affiliation_string":"Multi-Robot Systems (MRS) Research Group, German University in Cairo (GUC), Egypt","institution_ids":["https://openalex.org/I96823368"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042554286","display_name":"Elsayed I. Morgan","orcid":"https://orcid.org/0009-0009-6958-9398"},"institutions":[{"id":"https://openalex.org/I96823368","display_name":"German University in Cairo","ror":"https://ror.org/03rjt0z37","country_code":"EG","type":"education","lineage":["https://openalex.org/I96823368"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Elsayed I. Morgan","raw_affiliation_strings":["German University in Cairo (GUC),Multi-Robot Systems (MRS) Research Group,Egypt","Multi-Robot Systems (MRS) Research Group, German University in Cairo (GUC), Egypt"],"affiliations":[{"raw_affiliation_string":"German University in Cairo (GUC),Multi-Robot Systems (MRS) Research Group,Egypt","institution_ids":["https://openalex.org/I96823368"]},{"raw_affiliation_string":"Multi-Robot Systems (MRS) Research Group, German University in Cairo (GUC), Egypt","institution_ids":["https://openalex.org/I96823368"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5040834903"],"corresponding_institution_ids":["https://openalex.org/I96823368"],"apc_list":null,"apc_paid":null,"fwci":0.4989,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.66789266,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.998199999332428,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.998199999332428,"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/T10142","display_name":"Formal Methods in Verification","score":0.9616000056266785,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9549999833106995,"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/model-predictive-control","display_name":"Model predictive control","score":0.8570075631141663},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7174070477485657},{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.7134992480278015},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6998769640922546},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6054823994636536},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5622527599334717},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.5591431260108948},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5397437810897827},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5200942754745483},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.49832844734191895},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48294585943222046},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.46438348293304443},{"id":"https://openalex.org/keywords/shooting-method","display_name":"Shooting method","score":0.4267963171005249},{"id":"https://openalex.org/keywords/linear-programming","display_name":"Linear programming","score":0.4266495704650879},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4264988899230957},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3663709759712219},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31171756982803345},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.291157603263855},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1768263578414917},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10341355204582214}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8570075631141663},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7174070477485657},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.7134992480278015},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6998769640922546},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6054823994636536},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5622527599334717},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.5591431260108948},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5397437810897827},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5200942754745483},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.49832844734191895},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48294585943222046},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.46438348293304443},{"id":"https://openalex.org/C4195266","wikidata":"https://www.wikidata.org/wiki/Q1749769","display_name":"Shooting method","level":3,"score":0.4267963171005249},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.4266495704650879},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4264988899230957},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3663709759712219},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31171756982803345},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.291157603263855},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1768263578414917},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10341355204582214},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C182310444","wikidata":"https://www.wikidata.org/wiki/Q1332643","display_name":"Boundary value problem","level":2,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icves.2019.8906364","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icves.2019.8906364","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.41999998688697815,"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W178401335","https://openalex.org/W1631623342","https://openalex.org/W1969234587","https://openalex.org/W2044795764","https://openalex.org/W2059493488","https://openalex.org/W2141209752","https://openalex.org/W2316956484","https://openalex.org/W2344179576","https://openalex.org/W2469875636","https://openalex.org/W2478856989","https://openalex.org/W2488010014","https://openalex.org/W2559336140","https://openalex.org/W2571668002","https://openalex.org/W2626651832","https://openalex.org/W2766628996","https://openalex.org/W2771513248","https://openalex.org/W2787630266","https://openalex.org/W2899994820","https://openalex.org/W2905203924","https://openalex.org/W4255885994","https://openalex.org/W4285719527","https://openalex.org/W6699347911","https://openalex.org/W6731773266"],"related_works":["https://openalex.org/W2478856989","https://openalex.org/W2347515520","https://openalex.org/W2080132051","https://openalex.org/W1578328339","https://openalex.org/W2377665576","https://openalex.org/W2091836778","https://openalex.org/W2378696525","https://openalex.org/W2327610550","https://openalex.org/W2124742998","https://openalex.org/W2393368407"],"abstract_inverted_index":{"In":[0,57],"this":[1,58],"paper,":[2,59],"a":[3,12,65,90,124],"Nonlinear":[4],"Model":[5],"Predictive":[6],"Controller":[7],"(NMPC)":[8],"is":[9,36,49,92],"applied":[10],"on":[11,103],"quadcopter":[13],"in":[14,83,94],"order":[15],"to":[16,21,54,111],"perform":[17],"trajectory":[18,120],"tracking.":[19],"Due":[20],"the":[22,25,29,32,41,44,62,72,77,86,95,98,104,109],"fact":[23],"that":[24],"computational":[26,105],"time":[27],"for":[28,51,70],"solution":[30],"of":[31,64,85,100],"optimal":[33,73],"control":[34,48,74],"problem":[35],"high":[37],"and":[38,79,108,123],"may":[39],"exceed":[40],"sampling":[42],"time,":[43,106],"nonlinear":[45,66],"model":[46],"predictive":[47],"known":[50,128],"being":[52],"restricted":[53],"slow":[55],"processes.":[56],"we":[60],"consider":[61],"application":[63,117],"programming":[67],"(NLP)":[68],"approach":[69],"solving":[71],"problem,":[75],"using":[76],"single":[78],"multiple":[80,119],"shooting":[81],"methods":[82,102],"formulation":[84],"NLP":[87],"model.":[88],"Additionally,":[89],"comparison":[91],"conducted":[93],"process":[96],"highlighting":[97],"effect":[99],"both":[101],"accuracy":[107],"degree":[110],"which":[112],"they":[113],"encourage":[114],"real":[115,125],"life":[116,126],"through":[118],"tracking":[121],"scenarios":[122],"simulator":[127],"as":[129],"Gazebo.":[130]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
