{"id":"https://openalex.org/W3132963035","doi":"https://doi.org/10.1109/iros45743.2020.9341793","title":"Adaptive Nonlinear Control For Perching of a Bioinspired Ornithopter","display_name":"Adaptive Nonlinear Control For Perching of a Bioinspired Ornithopter","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3132963035","doi":"https://doi.org/10.1109/iros45743.2020.9341793","mag":"3132963035"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341793","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341793","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.1109/IROS45743.2020.9341793","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046446014","display_name":"F. J. Maldonado","orcid":null},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"F. J. Maldonado","raw_affiliation_strings":["GRVC Robotics Laboratory, Universidad de Sevilla, Sevilla"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRVC Robotics Laboratory, Universidad de Sevilla, Sevilla","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009869102","display_name":"Jos\u00e9 \u00c1ngel Acosta","orcid":"https://orcid.org/0000-0003-0040-338X"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J. A. Acosta","raw_affiliation_strings":["GRVC Robotics Laboratory, Universidad de Sevilla, Sevilla"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRVC Robotics Laboratory, Universidad de Sevilla, Sevilla","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039068777","display_name":"J. Tormo-Barbero","orcid":null},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J. Tormo-Barbero","raw_affiliation_strings":["GRVC Robotics Laboratory, Universidad de Sevilla, Sevilla"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRVC Robotics Laboratory, Universidad de Sevilla, Sevilla","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066231148","display_name":"Pedro Grau","orcid":"https://orcid.org/0000-0002-2487-6301"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"P. Grau","raw_affiliation_strings":["GRVC Robotics Laboratory, Universidad de Sevilla, Sevilla"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRVC Robotics Laboratory, Universidad de Sevilla, Sevilla","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010617811","display_name":"M.M. Guzm\u00e1n","orcid":null},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"M. M. Guzman","raw_affiliation_strings":["GRVC Robotics Laboratory, Universidad de Sevilla, Sevilla"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRVC Robotics Laboratory, Universidad de Sevilla, Sevilla","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057947815","display_name":"An\u0131\u0301bal Ollero","orcid":"https://orcid.org/0000-0003-2155-2472"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"A. Ollero","raw_affiliation_strings":["GRVC Robotics Laboratory, Universidad de Sevilla, Sevilla"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRVC Robotics Laboratory, Universidad de Sevilla, Sevilla","institution_ids":["https://openalex.org/I79238269"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I79238269"],"apc_list":null,"apc_paid":null,"fwci":15.1,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.99181646,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1385","last_page":"1390"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.995199978351593,"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"}},{"id":"https://openalex.org/T11056","display_name":"Physiological and biochemical adaptations","score":0.9858999848365784,"subfield":{"id":"https://openalex.org/subfields/2303","display_name":"Ecology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.7256419658660889},{"id":"https://openalex.org/keywords/autopilot","display_name":"Autopilot","score":0.7216451168060303},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6685720086097717},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.6619864702224731},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.6410070061683655},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6373592615127563},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6089560985565186},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.5855467319488525},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.511326014995575},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4736926555633545},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.43968650698661804},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4208322763442993},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.3684793710708618},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3535171151161194},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.24277722835540771},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20392745733261108},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10500052571296692},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08628100156784058}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.7256419658660889},{"id":"https://openalex.org/C18020424","wikidata":"https://www.wikidata.org/wiki/Q220858","display_name":"Autopilot","level":2,"score":0.7216451168060303},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6685720086097717},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.6619864702224731},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6410070061683655},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6373592615127563},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6089560985565186},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.5855467319488525},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.511326014995575},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4736926555633545},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.43968650698661804},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4208322763442993},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3684793710708618},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3535171151161194},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.24277722835540771},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20392745733261108},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10500052571296692},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08628100156784058},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/iros45743.2020.9341793","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341793","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:zenodo.org:5720762","is_oa":true,"landing_page_url":"https://doi.org/10.1109/IROS45743.2020.9341793","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"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":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:5720762","is_oa":true,"landing_page_url":"https://doi.org/10.1109/IROS45743.2020.9341793","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"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":"","raw_type":"info:eu-repo/semantics/conferencePaper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W79504379","https://openalex.org/W1590477236","https://openalex.org/W1967238647","https://openalex.org/W2075432862","https://openalex.org/W2149567188","https://openalex.org/W2166377112","https://openalex.org/W2313753081","https://openalex.org/W2326702042","https://openalex.org/W2621540902","https://openalex.org/W2891409388","https://openalex.org/W4251686718","https://openalex.org/W6603299418","https://openalex.org/W6635190986"],"related_works":["https://openalex.org/W2386521787","https://openalex.org/W2923982714","https://openalex.org/W1847613412","https://openalex.org/W2972367213","https://openalex.org/W4382203996","https://openalex.org/W1480277710","https://openalex.org/W1512021029","https://openalex.org/W2108470770","https://openalex.org/W1972862722","https://openalex.org/W2281732014"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"a":[3,26,42,51,94],"model-free":[4],"nonlinear":[5,111],"controller":[6,43,73,89],"for":[7],"an":[8],"ornithopter":[9],"prototype":[10],"with":[11],"bioinspired":[12],"wings":[13],"and":[14,18,35,47,79,124],"tail.":[15],"The":[16,88],"size":[17],"power":[19],"requirements":[20],"have":[21],"been":[22,45],"thought":[23],"to":[24,49,92,117],"allocate":[25],"customized":[27],"autopilot":[28],"on":[29,76,104],"board.":[30],"To":[31],"assess":[32],"the":[33,38,72,86,105,119],"functionality":[34],"performance":[36,127],"of":[37,85],"full":[39],"mechatronic":[40],"design,":[41],"has":[44],"designed":[46],"implemented":[48],"execute":[50],"prescribed":[52],"perching":[53,120],"2D":[54],"trajectory.":[55,121],"Although":[56],"functional,":[57],"its":[58,69],"'handmade'":[59],"nature":[60],"forces":[61],"many":[62],"imperfections":[63],"that":[64,67],"cause":[65],"uncertainty":[66],"hinder":[68],"control.":[70],"Therefore,":[71],"is":[74,90,114,128],"based":[75],"adaptive":[77],"backstepping":[78],"does":[80],"not":[81],"require":[82],"any":[83],"knowledge":[84],"aerodynamics.":[87],"able":[91],"follow":[93],"given":[95],"reference":[96],"in":[97],"flight":[98,133],"path":[99],"angle":[100],"by":[101,130],"actuating":[102],"only":[103],"tail":[106],"deflection.":[107],"A":[108],"novel":[109],"space-dependent":[110],"guidance":[112,123],"law":[113],"also":[115],"provided":[116],"prescribe":[118],"Mechatronics,":[122],"control":[125],"system":[126],"validated":[129],"conducting":[131],"indoor":[132],"tests.":[134]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2021-03-01T00:00:00"}
