{"id":"https://openalex.org/W2101206086","doi":"https://doi.org/10.1109/iros.2011.6095098","title":"Differential flatness based control of a rotorcraft for aggressive maneuvers","display_name":"Differential flatness based control of a rotorcraft for aggressive maneuvers","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2101206086","doi":"https://doi.org/10.1109/iros.2011.6095098","mag":"2101206086"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6095098","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095098","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5058377080","display_name":"Jeff Ferrin","orcid":null},"institutions":[{"id":"https://openalex.org/I100005738","display_name":"Brigham Young University","ror":"https://ror.org/047rhhm47","country_code":"US","type":"education","lineage":["https://openalex.org/I100005738"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeff Ferrin","raw_affiliation_strings":["Brigham Young Univ., USA","Brigham Young University-, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brigham Young Univ., USA","institution_ids":["https://openalex.org/I100005738"]},{"raw_affiliation_string":"Brigham Young University-, USA","institution_ids":["https://openalex.org/I100005738"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058608572","display_name":"Robert C. Leishman","orcid":"https://orcid.org/0000-0002-5363-1725"},"institutions":[{"id":"https://openalex.org/I100005738","display_name":"Brigham Young University","ror":"https://ror.org/047rhhm47","country_code":"US","type":"education","lineage":["https://openalex.org/I100005738"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert Leishman","raw_affiliation_strings":["Brigham Young Univ., USA","Brigham Young University-, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brigham Young Univ., USA","institution_ids":["https://openalex.org/I100005738"]},{"raw_affiliation_string":"Brigham Young University-, USA","institution_ids":["https://openalex.org/I100005738"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108464016","display_name":"Randy Beard","orcid":null},"institutions":[{"id":"https://openalex.org/I100005738","display_name":"Brigham Young University","ror":"https://ror.org/047rhhm47","country_code":"US","type":"education","lineage":["https://openalex.org/I100005738"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Randy Beard","raw_affiliation_strings":["Brigham Young Univ., USA","Brigham Young University-, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brigham Young Univ., USA","institution_ids":["https://openalex.org/I100005738"]},{"raw_affiliation_string":"Brigham Young University-, USA","institution_ids":["https://openalex.org/I100005738"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088112620","display_name":"Timothy W. McLain","orcid":"https://orcid.org/0000-0003-4160-5308"},"institutions":[{"id":"https://openalex.org/I100005738","display_name":"Brigham Young University","ror":"https://ror.org/047rhhm47","country_code":"US","type":"education","lineage":["https://openalex.org/I100005738"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tim McLain","raw_affiliation_strings":["Brigham Young Univ., USA","Brigham Young University-, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brigham Young Univ., USA","institution_ids":["https://openalex.org/I100005738"]},{"raw_affiliation_string":"Brigham Young University-, USA","institution_ids":["https://openalex.org/I100005738"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.929,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.85617214,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9990000128746033,"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/T12158","display_name":"Guidance and Control Systems","score":0.9987999796867371,"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/flatness","display_name":"Flatness (cosmology)","score":0.817688524723053},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.7041420340538025},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7027731537818909},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.5578721165657043},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5330504179000854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5029746890068054},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.482099324464798},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.4780895411968231},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44462648034095764},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.4157693684101105},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3353750705718994},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2821281850337982},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.21156346797943115},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19834986329078674},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15675264596939087}],"concepts":[{"id":"https://openalex.org/C2778530986","wikidata":"https://www.wikidata.org/wiki/Q5457948","display_name":"Flatness (cosmology)","level":3,"score":0.817688524723053},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.7041420340538025},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7027731537818909},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.5578721165657043},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5330504179000854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5029746890068054},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.482099324464798},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.4780895411968231},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44462648034095764},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.4157693684101105},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3353750705718994},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2821281850337982},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.21156346797943115},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19834986329078674},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15675264596939087},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2011.6095098","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095098","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:scholarsarchive.byu.edu:facpub-2977","is_oa":false,"landing_page_url":"https://scholarsarchive.byu.edu/facpub/1949","pdf_url":null,"source":{"id":"https://openalex.org/S4377196308","display_name":"ScholarsArchive  (Brigham Young University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I100005738","host_organization_name":"Brigham Young University","host_organization_lineage":["https://openalex.org/I100005738"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty Publications","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W287703190","https://openalex.org/W1581397664","https://openalex.org/W2006501475","https://openalex.org/W2026836521","https://openalex.org/W2065297540","https://openalex.org/W2065894019","https://openalex.org/W2102303010","https://openalex.org/W2108770514","https://openalex.org/W2122100154","https://openalex.org/W2137670671","https://openalex.org/W3156330606","https://openalex.org/W6634764981","https://openalex.org/W6666686529","https://openalex.org/W6680663245"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W4244052565","https://openalex.org/W2358719579","https://openalex.org/W2385042721","https://openalex.org/W2367929022","https://openalex.org/W2351754530","https://openalex.org/W4252778923","https://openalex.org/W2378649906","https://openalex.org/W2391014597","https://openalex.org/W2350113401"],"abstract_inverted_index":{"We":[0,11,20,54],"propose":[1],"a":[2,7,30,62,68],"new":[3],"method":[4],"to":[5,28,48,60],"control":[6],"multi-rotor":[8],"aerial":[9],"vehicle.":[10],"show":[12],"that":[13],"the":[14,22,26,58],"system":[15,27,35],"dynamics":[16],"are":[17],"differentially":[18],"flat.":[19],"utilize":[21],"differential":[23],"flatness":[24],"of":[25],"provide":[29],"feed":[31],"forward":[32],"input.":[33],"The":[34],"model":[36],"derived":[37],"allows":[38],"for":[39],"arbitrary":[40],"changes":[41],"in":[42,56],"yaw":[43],"and":[44,51],"is":[45],"not":[46],"limited":[47],"small":[49],"roll":[50],"pitch":[52],"angles.":[53],"demonstrate":[55],"hardware":[57],"ability":[59],"follow":[61],"highly":[63],"maneuverable":[64],"path":[65],"while":[66],"tracking":[67],"time-varying":[69],"heading":[70],"command.":[71]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
