{"id":"https://openalex.org/W2564095182","doi":"https://doi.org/10.1109/lra.2016.2640362","title":"Thrust Mixing, Saturation, and Body-Rate Control for Accurate Aggressive Quadrotor Flight","display_name":"Thrust Mixing, Saturation, and Body-Rate Control for Accurate Aggressive Quadrotor Flight","publication_year":2016,"publication_date":"2016-12-16","ids":{"openalex":"https://openalex.org/W2564095182","doi":"https://doi.org/10.1109/lra.2016.2640362","mag":"2564095182"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2016.2640362","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2640362","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063745107","display_name":"Matthias Faessler","orcid":null},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Matthias Faessler","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061192739","display_name":"Davide Falanga","orcid":"https://orcid.org/0000-0002-7878-4621"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Davide Falanga","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057116316","display_name":"Davide Scaramuzza","orcid":"https://orcid.org/0000-0002-3831-6778"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Davide Scaramuzza","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5063745107"],"corresponding_institution_ids":["https://openalex.org/I202697423"],"apc_list":null,"apc_paid":null,"fwci":9.7621,"has_fulltext":false,"cited_by_count":152,"citation_normalized_percentile":{"value":0.98296382,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"2","issue":"2","first_page":"476","last_page":"482"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9944000244140625,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/control-theory","display_name":"Control theory (sociology)","score":0.8524839282035828},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.6877962946891785},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5792260766029358},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5443456172943115},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5027759075164795},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.4937497079372406},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.48109906911849976},{"id":"https://openalex.org/keywords/yaw","display_name":"Yaw","score":0.44295910000801086},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4186716079711914},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.41490280628204346},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3152398467063904},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30188071727752686},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13307172060012817},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10848668217658997},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08636638522148132},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07689163088798523}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8524839282035828},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.6877962946891785},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5792260766029358},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5443456172943115},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5027759075164795},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.4937497079372406},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48109906911849976},{"id":"https://openalex.org/C206831581","wikidata":"https://www.wikidata.org/wiki/Q9288712","display_name":"Yaw","level":2,"score":0.44295910000801086},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4186716079711914},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.41490280628204346},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3152398467063904},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30188071727752686},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13307172060012817},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10848668217658997},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08636638522148132},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07689163088798523},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2016.2640362","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2640362","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:www.zora.uzh.ch:257414","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401281","display_name":"Zurich Open Repository and Archive (University of Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I202697423","host_organization_name":"University of Zurich","host_organization_lineage":["https://openalex.org/I202697423"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Faessler, Matthias; Falanga, Davide; Scaramuzza, Davide  (2017). Thrust Mixing, Saturation, and Body-Rate Control for Accurate Aggressive Quadrotor Flight.  IEEE Robotics and Automation Letters, 2(2):476-482.","raw_type":"info:eu-repo/semantics/acceptedVersion"},{"id":"pmh:oai:infoscience.epfl.ch:228471","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/228471","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"doi:10.5167/uzh-257414","is_oa":true,"landing_page_url":"https://doi.org/10.5167/uzh-257414","pdf_url":null,"source":{"id":"https://openalex.org/S7407051291","display_name":"Universit\u00e4t Z\u00fcrich, ZORA","issn_l":null,"issn":[],"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":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:www.zora.uzh.ch:257414","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401281","display_name":"Zurich Open Repository and Archive (University of Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I202697423","host_organization_name":"University of Zurich","host_organization_lineage":["https://openalex.org/I202697423"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Faessler, Matthias; Falanga, Davide; Scaramuzza, Davide  (2017). Thrust Mixing, Saturation, and Body-Rate Control for Accurate Aggressive Quadrotor Flight.  IEEE Robotics and Automation Letters, 2(2):476-482.","raw_type":"info:eu-repo/semantics/acceptedVersion"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8299999833106995,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320326765","display_name":"National Centre of Competence in Research Robotics","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1530919911","https://openalex.org/W1562603105","https://openalex.org/W1570516986","https://openalex.org/W1594126539","https://openalex.org/W1704276703","https://openalex.org/W1919002818","https://openalex.org/W1987526470","https://openalex.org/W2032258902","https://openalex.org/W2065894019","https://openalex.org/W2109656638","https://openalex.org/W2142424817","https://openalex.org/W2162991084","https://openalex.org/W2163198877","https://openalex.org/W2181845023","https://openalex.org/W2469301588","https://openalex.org/W2480042934","https://openalex.org/W2482392012","https://openalex.org/W2518600491","https://openalex.org/W6634086843","https://openalex.org/W6637556697","https://openalex.org/W6721835424"],"related_works":["https://openalex.org/W2002316083","https://openalex.org/W2921501254","https://openalex.org/W1671880007","https://openalex.org/W1897196146","https://openalex.org/W2082214929","https://openalex.org/W3214252862","https://openalex.org/W1994354301","https://openalex.org/W2897390566","https://openalex.org/W2122603801","https://openalex.org/W2157816883"],"abstract_inverted_index":{"Quadrotors":[0],"are":[1,13,84,142],"well":[2],"suited":[3],"for":[4,86],"executing":[5],"fast":[6,19],"maneuvers":[7],"with":[8,21,75,216],"high":[9],"accelerations":[10],"but":[11],"they":[12],"still":[14,116],"unable":[15],"to":[16,62,73,98,144],"follow":[17],"a":[18,34,58,134,146,155,186,217],"trajectory":[20,89,203],"centimeter":[22],"accuracy":[23],"without":[24,48],"iteratively":[25],"learning":[26,50],"it":[27],"beforehand.":[28],"In":[29],"this":[30],"paper,":[31],"we":[32,68,141],"present":[33,69],"novel":[35],"body-rate":[36,93],"controller":[37,94],"and":[38,51,88,104,151,171,183,189,206],"an":[39],"iterative":[40,122,139],"thrust-mixing":[41,123],"scheme,":[42],"which":[43,83,109,162],"improve":[44],"the":[45,53,63,70,101,105,111,126,131,138,165,174,201],"trajectory-tracking":[46,113],"performance":[47],"requiring":[49],"reduce":[52],"yaw":[54,167],"control":[55,81],"error":[56,114],"of":[57,65,149,154,185,196,210],"quadrotor,":[59],"respectively.":[60],"Furthermore,":[61],"best":[64],"our":[66],"knowledge,":[67],"first":[71],"algorithm":[72],"cope":[74],"motor":[76,107,197,211],"saturations":[77,212],"smartly":[78],"by":[79],"prioritizing":[80,178],"inputs":[82,132],"relevant":[85],"stabilization":[87],"tracking.":[90],"The":[91],"presented":[92],"uses":[95],"LQR-control":[96],"methods":[97],"consider":[99,145],"both":[100],"body":[102],"rate":[103],"single":[106,156],"dynamics,":[108],"reduces":[110,173],"overall":[112],"while":[115],"rejecting":[117],"external":[118],"disturbances":[119],"well.":[120],"Our":[121,177],"scheme":[124,180],"computes":[125],"four":[127],"rotor":[128],"thrusts":[129],"given":[130],"from":[133],"position-control":[135],"pipeline.":[136],"Through":[137],"computation,":[140],"able":[143],"varying":[147],"ratio":[148],"thrust":[150],"drag":[152],"torque":[153,168],"propeller":[157],"over":[158],"its":[159],"input":[160],"range,":[161],"allows":[163],"applying":[164],"desired":[166],"more":[169],"precisely":[170],"hence":[172],"yaw-control":[175],"error.":[176],"motor-saturation":[179],"improves":[181],"stability":[182],"robustness":[184,207],"quadrotor's":[187],"flight":[188],"may":[190],"prevent":[191],"unstable":[192],"behavior":[193],"in":[194,208,213],"case":[195,209],"saturations.":[198],"We":[199],"demonstrate":[200],"improved":[202],"tracking,":[204],"yaw-control,":[205],"real-world":[214],"experiments":[215],"quadrotor.":[218]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":21},{"year":2021,"cited_by_count":23},{"year":2020,"cited_by_count":20},{"year":2019,"cited_by_count":18},{"year":2018,"cited_by_count":13},{"year":2017,"cited_by_count":5}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2017-01-06T00:00:00"}
