{"id":"https://openalex.org/W2140504009","doi":"https://doi.org/10.1109/iros.2007.4399323","title":"Global stabilization of a four rotor helicopter with bounded inputs","display_name":"Global stabilization of a four rotor helicopter with bounded inputs","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2140504009","doi":"https://doi.org/10.1109/iros.2007.4399323","mag":"2140504009"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399323","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399323","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-00158105","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090818308","display_name":"Ahmad Hably","orcid":"https://orcid.org/0000-0001-6220-3856"},"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/I4210124956","display_name":"GIPSA-Lab","ror":"https://ror.org/02wrme198","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ahmad Hably","raw_affiliation_strings":["Department of Gipsa-Laboratory, CNRS, Grenoble Universities, Saint Martin d'Heres, France","Grenoble Univ., St. Martin d'Heres"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Gipsa-Laboratory, CNRS, Grenoble Universities, Saint Martin d'Heres, France","institution_ids":["https://openalex.org/I899635006","https://openalex.org/I4210124956","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Grenoble Univ., St. Martin d'Heres","institution_ids":["https://openalex.org/I899635006"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101681352","display_name":"Nicolas Marchand","orcid":"https://orcid.org/0000-0002-5825-9758"},"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/I4210124956","display_name":"GIPSA-Lab","ror":"https://ror.org/02wrme198","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nicolas Marchand","raw_affiliation_strings":["Department of Gipsa-Laboratory, CNRS, Grenoble Universities, Saint Martin d'Heres, France","Grenoble Univ., St. Martin d'Heres"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Gipsa-Laboratory, CNRS, Grenoble Universities, Saint Martin d'Heres, France","institution_ids":["https://openalex.org/I899635006","https://openalex.org/I4210124956","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Grenoble Univ., St. Martin d'Heres","institution_ids":["https://openalex.org/I899635006"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.6372,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.91525663,"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":"129","last_page":"134"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T11110","display_name":"Stability and Controllability of Differential Equations","score":0.9934999942779541,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9933000206947327,"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/bounded-function","display_name":"Bounded function","score":0.898168683052063},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8004758358001709},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.6976972222328186},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5829798579216003},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.5628364682197571},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.5517430901527405},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.473798930644989},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4427303671836853},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4349150061607361},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.39290812611579895},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2992543578147888},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.1228320300579071},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08608847856521606},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08588936924934387},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.081179678440094},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.05746966600418091}],"concepts":[{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.898168683052063},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8004758358001709},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.6976972222328186},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5829798579216003},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.5628364682197571},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.5517430901527405},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.473798930644989},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4427303671836853},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4349150061607361},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.39290812611579895},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2992543578147888},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.1228320300579071},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08608847856521606},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08588936924934387},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.081179678440094},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.05746966600418091},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2007.4399323","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399323","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-00158105v1","is_oa":true,"landing_page_url":"https://hal.science/hal-00158105","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IROS 2007 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2007, San Diego, Californie, United States. pp.129-134, &#x27E8;10.1109/IROS.2007.4399323&#x27E9;","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-00158105v1","is_oa":true,"landing_page_url":"https://hal.science/hal-00158105","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IROS 2007 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2007, San Diego, Californie, United States. pp.129-134, &#x27E8;10.1109/IROS.2007.4399323&#x27E9;","raw_type":"Conference papers"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7200000286102295}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1574945970","https://openalex.org/W1601720162","https://openalex.org/W1981087084","https://openalex.org/W2000698627","https://openalex.org/W2003272792","https://openalex.org/W2026476773","https://openalex.org/W2035475156","https://openalex.org/W2061288137","https://openalex.org/W2065486192","https://openalex.org/W2074857762","https://openalex.org/W2096282629","https://openalex.org/W2097061644","https://openalex.org/W2097899744","https://openalex.org/W2108806801","https://openalex.org/W2153807823","https://openalex.org/W2156909576","https://openalex.org/W2163198877","https://openalex.org/W2167229184","https://openalex.org/W2167631306","https://openalex.org/W2463140576","https://openalex.org/W6636076395","https://openalex.org/W6656902923"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2366352762","https://openalex.org/W2613964090","https://openalex.org/W2081322886","https://openalex.org/W2380425739","https://openalex.org/W2349324463","https://openalex.org/W1988313539","https://openalex.org/W2027541371","https://openalex.org/W2380535488","https://openalex.org/W2371144154"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,10],"global":[4,35],"asymptotic":[5],"stabilizing":[6],"control":[7,18,53],"law":[8],"for":[9],"quad-rotor":[11],"helicopter":[12],"with":[13,40],"bounded":[14,41],"inputs.":[15,42],"The":[16,43],"proposed":[17,66],"design":[19],"exploits":[20],"the":[21,25,34,46,49,52,62,65],"technique":[22],"based":[23,32],"on":[24,33],"sum":[26],"of":[27,37,45,51,64],"saturating":[28],"functions":[29],"and":[30,48],"is":[31],"stabilization":[36],"multiple":[38],"integrators":[39],"positiveness":[44],"thrust":[47],"boundedness":[50],"inputs":[54],"are":[55],"taken":[56],"into":[57],"account.":[58],"Numerical":[59],"simulations":[60],"show":[61],"effectiveness":[63],"controller.":[67]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
