{"id":"https://openalex.org/W4312199840","doi":"https://doi.org/10.1109/iros47612.2022.9981890","title":"Stabilization of Tangent and Normal Contact Forces for a Quadrotor subject to Disturbances","display_name":"Stabilization of Tangent and Normal Contact Forces for a Quadrotor subject to Disturbances","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312199840","doi":"https://doi.org/10.1109/iros47612.2022.9981890"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981890","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981890","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2022 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://cnrs.hal.science/hal-03844517","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045724734","display_name":"Carlos Izaguirre\u2010Espinosa","orcid":"https://orcid.org/0000-0001-7879-4072"},"institutions":[{"id":"https://openalex.org/I169046204","display_name":"Universidad Aut\u00f3noma de Nuevo Le\u00f3n","ror":"https://ror.org/01fh86n78","country_code":"MX","type":"education","lineage":["https://openalex.org/I169046204"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"C. Izaguirre-Espinosa","raw_affiliation_strings":["Autonomous University of Nuevo Leon,Faculty of Chemistry Sciences,Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous University of Nuevo Leon,Faculty of Chemistry Sciences,Mexico","institution_ids":["https://openalex.org/I169046204"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038586394","display_name":"Aldo Jonathan Mu\u00f1oz\u2010V\u00e1zquez","orcid":"https://orcid.org/0000-0001-5125-2644"},"institutions":[{"id":"https://openalex.org/I126638653","display_name":"South Texas College","ror":"https://ror.org/03038ad20","country_code":"US","type":"education","lineage":["https://openalex.org/I126638653"]},{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX","US"],"is_corresponding":false,"raw_author_name":"A. Mu\u00f1oz-Vazquez","raw_affiliation_strings":["College of Engineering, Texas A&M Univ.,McAllen,USA","Cinvestav Unidad Saltillo (Mexico)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering, Texas A&M Univ.,McAllen,USA","institution_ids":["https://openalex.org/I126638653"]},{"raw_affiliation_string":"Cinvestav Unidad Saltillo (Mexico)","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003237228","display_name":"A. Sanchez","orcid":"https://orcid.org/0000-0002-6553-1641"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"A. S\u00e1nchez-Orta","raw_affiliation_strings":["Center for Research and Advanced Studies (Cinvestav),Robotics and Advanced Manufacturing Division,Saltillo,Mexico","Robotics and Advanced Manufacturing Division, Center for Research and Advanced Studies (Cinvestav), Saltillo, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Research and Advanced Studies (Cinvestav),Robotics and Advanced Manufacturing Division,Saltillo,Mexico","institution_ids":["https://openalex.org/I68368234"]},{"raw_affiliation_string":"Robotics and Advanced Manufacturing Division, Center for Research and Advanced Studies (Cinvestav), Saltillo, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028434777","display_name":"Vicente Parra\u2010Vega","orcid":"https://orcid.org/0000-0002-1813-0394"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"V. Parra-Vega","raw_affiliation_strings":["Center for Research and Advanced Studies (Cinvestav),Robotics and Advanced Manufacturing Division,Saltillo,Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Research and Advanced Studies (Cinvestav),Robotics and Advanced Manufacturing Division,Saltillo,Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112882837","display_name":"R. Garcia-Rodriguez","orcid":null},"institutions":[{"id":"https://openalex.org/I4210118275","display_name":"Universidad Polit\u00e9cnica Metropolitana de Hidalgo","ror":"https://ror.org/02ne61390","country_code":"MX","type":"education","lineage":["https://openalex.org/I4210118275"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"R. Garcia-Rodriguez","raw_affiliation_strings":["Universidad Politecnica Metropolitana de Hidalgo,Aeronautical Engineering Program and Postgraduate Program in Aerospacial Engineering,Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad Politecnica Metropolitana de Hidalgo,Aeronautical Engineering Program and Postgraduate Program in Aerospacial Engineering,Mexico","institution_ids":["https://openalex.org/I4210118275"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101627181","display_name":"P. Castillo","orcid":"https://orcid.org/0000-0001-8324-8762"},"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/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"P. Castillo","raw_affiliation_strings":["Sorbonne Universités, Université deTechnologie de Compiégne,CNRS UMR 7253 Heudiasyc Lab., CS 60319,Compiégne Cedex,France,60203"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sorbonne Universités, Université deTechnologie de Compiégne,CNRS UMR 7253 Heudiasyc Lab., CS 60319,Compiégne Cedex,France,60203","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I39804081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056115466","display_name":"Daniel Arregu\u00edn-Jasso","orcid":"https://orcid.org/0000-0002-6555-4026"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"D. Arregu\u00edn-Jasso","raw_affiliation_strings":["Center for Research and Advanced Studies (Cinvestav),Robotics and Advanced Manufacturing Division,Saltillo,Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Research and Advanced Studies (Cinvestav),Robotics and Advanced Manufacturing Division,Saltillo,Mexico","institution_ids":["https://openalex.org/I68368234"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7613","last_page":"7618"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9984999895095825,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9979000091552734,"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/contact-force","display_name":"Contact force","score":0.7154824137687683},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7028571963310242},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.6347496509552002},{"id":"https://openalex.org/keywords/tangent","display_name":"Tangent","score":0.5334007740020752},{"id":"https://openalex.org/keywords/contact-dynamics","display_name":"Contact dynamics","score":0.4852445125579834},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4442730247974396},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41338348388671875},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4108020067214966},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3225647807121277},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.234243243932724},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.2331337034702301},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23149868845939636},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16634079813957214},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.14942708611488342},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1451091170310974},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12792208790779114}],"concepts":[{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.7154824137687683},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7028571963310242},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.6347496509552002},{"id":"https://openalex.org/C138187205","wikidata":"https://www.wikidata.org/wiki/Q131251","display_name":"Tangent","level":2,"score":0.5334007740020752},{"id":"https://openalex.org/C2778931886","wikidata":"https://www.wikidata.org/wiki/Q5164827","display_name":"Contact dynamics","level":2,"score":0.4852445125579834},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4442730247974396},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41338348388671875},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4108020067214966},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3225647807121277},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.234243243932724},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.2331337034702301},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23149868845939636},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16634079813957214},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.14942708611488342},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1451091170310974},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12792208790779114},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros47612.2022.9981890","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981890","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-03844517v1","is_oa":true,"landing_page_url":"https://cnrs.hal.science/hal-03844517","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":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Oct 2022, Kyoto, Japan. pp.7613-7618, ⟨10.1109/IROS47612.2022.9981890⟩","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-03844517v1","is_oa":true,"landing_page_url":"https://cnrs.hal.science/hal-03844517","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":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Oct 2022, Kyoto, Japan. pp.7613-7618, ⟨10.1109/IROS47612.2022.9981890⟩","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"score":0.5600000023841858,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G6654833908","display_name":"Sorbonne Universit\u00e9s \u00e0 Paris pour l'Enseignement et la Recherche","funder_award_id":"ANR-11-IDEX-0004","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W306312984","https://openalex.org/W1256176189","https://openalex.org/W1987142562","https://openalex.org/W2004470537","https://openalex.org/W2027333285","https://openalex.org/W2039239794","https://openalex.org/W2067216836","https://openalex.org/W2071808624","https://openalex.org/W2084399420","https://openalex.org/W2110170764","https://openalex.org/W2167808181","https://openalex.org/W2321887526","https://openalex.org/W2341182542","https://openalex.org/W2366908219","https://openalex.org/W2787959293","https://openalex.org/W2811264020","https://openalex.org/W2911617632","https://openalex.org/W2920775166","https://openalex.org/W2939085082","https://openalex.org/W2946906720","https://openalex.org/W4230352707"],"related_works":["https://openalex.org/W2137135972","https://openalex.org/W1984009428","https://openalex.org/W2067464119","https://openalex.org/W2147725488","https://openalex.org/W2625368530","https://openalex.org/W4390188352","https://openalex.org/W2676527818","https://openalex.org/W2339217605","https://openalex.org/W2999364027","https://openalex.org/W2804432643"],"abstract_inverted_index":{"Force":[0],"exertion,":[1],"object":[2],"manipulation,":[3],"and":[4,40,110],"interaction":[5],"are":[6,170],"novel":[7],"trending":[8],"research":[9],"topics":[10],"of":[11,31,37,77,81,122,176],"autonomous":[12],"flying":[13,64],"robots":[14],"that":[15],"can":[16],"yield":[17],"hoovering.":[18],"Moreover,":[19],"specifically":[20],"with":[21,85],"quadrotors,":[22],"the":[23,27,35,56,75,104,107,111,120,153,174,177],"vibration":[24,50],"caused":[25],"by":[26,128],"high":[28],"natural":[29],"frequency":[30],"rotating":[32],"propellers":[33],"exacerbates":[34],"problem":[36,76],"maintaining":[38],"contact":[39,49,79,92,116,160],"exerting":[41],"force":[42,117,163],"against":[43],"a":[44,70,82,86,95,130,158],"rigidly":[45],"fixed":[46],"object.":[47],"This":[48,72],"transfers":[51],"back":[52],"kinetic":[53],"energy":[54],"to":[55,69,140,157,172],"quadrotor":[57,83],"that,":[58],"in":[59,103],"worst-case":[60],"scenarios,":[61],"surpasses":[62],"its":[63],"capabilities,":[65],"which":[66,90],"may":[67],"lead":[68],"crash.":[71],"paper":[73],"studies":[74],"aerial":[78],"stabilization":[80,118,144,164],"equipped":[84],"hemispherical":[87],"deformable":[88],"tip,":[89],"accommodates":[91],"forces":[93],"at":[94,113],"lower":[96],"frequency.":[97],"Thus":[98],"two":[99],"phenomena":[100],"not":[101],"studied":[102],"literature":[105],"arise:":[106],"rolling":[108,127],"motion,":[109],"deformation":[112,123],"contact.":[114],"The":[115,147],"restores":[119],"effects":[121],"while":[124],"simultaneously":[125],"endowing":[126],"controlling":[129],"tangent":[131],"constrained":[132],"force.":[133],"A":[134],"model-free":[135],"continuous":[136],"attitude":[137,143,155],"fractional":[138],"controller":[139],"guarantee":[141],"finite-time":[142],"is":[145,165],"proposed.":[146],"residual":[148],"coupled":[149],"nonlinear":[150],"dynamics":[151],"yields":[152],"desired":[154],"corresponding":[156],"given":[159],"force;":[161],"thus,":[162],"achieved.":[166],"Finally,":[167],"experimental":[168],"results":[169],"presented":[171],"assess":[173],"performance":[175],"proposed":[178],"approach.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}