{"id":"https://openalex.org/W4205569666","doi":"https://doi.org/10.1109/lcsys.2021.3137099","title":"Quadcopter Trajectory Tracking in the Presence of 4 Faulty Actuators: A Nonlinear MHE and MPC Approach","display_name":"Quadcopter Trajectory Tracking in the Presence of 4 Faulty Actuators: A Nonlinear MHE and MPC Approach","publication_year":2021,"publication_date":"2021-12-21","ids":{"openalex":"https://openalex.org/W4205569666","doi":"https://doi.org/10.1109/lcsys.2021.3137099"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2021.3137099","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2021.3137099","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-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/A5030738793","display_name":"Akram Eltrabyly","orcid":"https://orcid.org/0000-0002-6927-4697"},"institutions":[{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I4210107733","display_name":"Informatique, BioInformatique, Syst\u00e8mes Complexes","ror":"https://ror.org/01aqxgr98","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210107733","https://openalex.org/I88467170"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Akram Eltrabyly","raw_affiliation_strings":["Univ Evry, IBISC, Universit\u00e9 Paris-Saclay, Evry-Courcouronnes, France","Informatique, BioInformatique, Syst\u00e8mes Complexes"],"raw_orcid":"https://orcid.org/0000-0002-6927-4697","affiliations":[{"raw_affiliation_string":"Univ Evry, IBISC, Universit\u00e9 Paris-Saclay, Evry-Courcouronnes, France","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I4210107733"]},{"raw_affiliation_string":"Informatique, BioInformatique, Syst\u00e8mes Complexes","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051518194","display_name":"Dalil Ichalal","orcid":"https://orcid.org/0000-0003-0465-6966"},"institutions":[{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I4210107733","display_name":"Informatique, BioInformatique, Syst\u00e8mes Complexes","ror":"https://ror.org/01aqxgr98","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210107733","https://openalex.org/I88467170"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Dalil Ichalal","raw_affiliation_strings":["Univ Evry, IBISC, Universit\u00e9 Paris-Saclay, Evry-Courcouronnes, France","Informatique, BioInformatique, Syst\u00e8mes Complexes"],"raw_orcid":"https://orcid.org/0000-0003-0465-6966","affiliations":[{"raw_affiliation_string":"Univ Evry, IBISC, Universit\u00e9 Paris-Saclay, Evry-Courcouronnes, France","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I4210107733"]},{"raw_affiliation_string":"Informatique, BioInformatique, Syst\u00e8mes Complexes","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050471144","display_name":"Sa\u00efd Mammar","orcid":"https://orcid.org/0000-0002-7225-9770"},"institutions":[{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I4210107733","display_name":"Informatique, BioInformatique, Syst\u00e8mes Complexes","ror":"https://ror.org/01aqxgr98","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210107733","https://openalex.org/I88467170"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Said Mammar","raw_affiliation_strings":["Univ Evry, IBISC, Universit\u00e9 Paris-Saclay, Evry-Courcouronnes, France","Informatique, BioInformatique, Syst\u00e8mes Complexes"],"raw_orcid":"https://orcid.org/0000-0002-7225-9770","affiliations":[{"raw_affiliation_string":"Univ Evry, IBISC, Universit\u00e9 Paris-Saclay, Evry-Courcouronnes, France","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I4210107733"]},{"raw_affiliation_string":"Informatique, BioInformatique, Syst\u00e8mes Complexes","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5274,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.82990208,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"6","issue":null,"first_page":"2024","last_page":"2029"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":1.0,"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":1.0,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9998000264167786,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9973999857902527,"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/quadcopter","display_name":"Quadcopter","score":0.9431818723678589},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7910773158073425},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7267168164253235},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.664518415927887},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.655509352684021},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6403549909591675},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5254271030426025},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4328386187553406},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.4292410612106323},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32912781834602356},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30811256170272827},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.29536309838294983},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16033312678337097}],"concepts":[{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.9431818723678589},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7910773158073425},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7267168164253235},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.664518415927887},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.655509352684021},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6403549909591675},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5254271030426025},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4328386187553406},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.4292410612106323},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32912781834602356},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30811256170272827},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29536309838294983},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16033312678337097},{"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/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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lcsys.2021.3137099","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2021.3137099","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-03518367v1","is_oa":false,"landing_page_url":"https://univ-evry.hal.science/hal-03518367","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Control Systems Letters, 2021, 6, pp.2024--2029. ⟨10.1109/LCSYS.2021.3137099⟩","raw_type":"Journal articles"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1483299780","https://openalex.org/W1978956894","https://openalex.org/W2006608363","https://openalex.org/W2035734362","https://openalex.org/W2037914955","https://openalex.org/W2075405270","https://openalex.org/W2080447794","https://openalex.org/W2091638547","https://openalex.org/W2129276668","https://openalex.org/W2138194424","https://openalex.org/W2143558629","https://openalex.org/W2164542682","https://openalex.org/W2483001039","https://openalex.org/W2842089854","https://openalex.org/W2955196667","https://openalex.org/W3152263107","https://openalex.org/W3211067544","https://openalex.org/W6629017113","https://openalex.org/W6680120831","https://openalex.org/W6684207189"],"related_works":["https://openalex.org/W4293056360","https://openalex.org/W4386804942","https://openalex.org/W2334632809","https://openalex.org/W2478856989","https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W4309225183","https://openalex.org/W2157008402","https://openalex.org/W2592302855"],"abstract_inverted_index":{"This":[0],"letter":[1],"proposes":[2],"an":[3,103],"Active":[4],"Fault":[5],"Tolerant":[6],"Control":[7,59],"(AFTC)":[8],"framework":[9,19,41,129],"for":[10,34],"a":[11],"quadcopter":[12],"Unmanned":[13],"Aerial":[14],"Vehicle":[15],"(UAV).":[16],"The":[17,40],"proposed":[18,92,128],"is":[20,130],"capable":[21],"of":[22,115],"achieving":[23],"trajectory":[24],"tracking,":[25],"estimating":[26,31],"states,":[27],"as":[28,30],"well":[29],"and":[32,47,55,73,105,124,133],"compensating":[33],"all":[35],"four":[36],"actuators":[37,76,101],"multiplicative":[38],"faults.":[39,77],"combines":[42],"two":[43,96],"optimization-based":[44],"nonlinear":[45],"estimation":[46],"control":[48],"techniques;":[49],"Nonlinear":[50,56],"Moving":[51],"Horizon":[52],"Estimation":[53],"(NMHE)":[54],"Model":[57],"Predictive":[58],"(NMPC).":[60],"We":[61],"formulate":[62],"the":[63,71,74,113,127],"NMHE":[64],"algorithm":[65],"such":[66],"that":[67,126],"it":[68],"simultaneously":[69],"estimates":[70,79],"states":[72],"4":[75,100],"These":[78],"are":[80],"then":[81],"provided":[82],"to":[83,85],"NMPC":[84],"achieve":[86],"fault":[87,97],"accommodation.":[88],"To":[89],"validate":[90],"our":[91],"framework,":[93],"we":[94],"investigate":[95],"scenarios,":[98],"where":[99],"experience":[102],"abrupt":[104],"time-varying":[106],"partial":[107],"Loss":[108],"Of":[109],"Effectiveness":[110],"(LOE)":[111],"in":[112],"presence":[114],"noisy":[116],"measurements.":[117],"Finally,":[118],"simulation":[119],"results":[120],"show":[121],"satisfactory":[122],"performance":[123],"prove":[125],"numerically":[131],"tractable":[132],"real-time":[134],"applicable.":[135]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}