{"id":"https://openalex.org/W4205352698","doi":"https://doi.org/10.1109/lra.2021.3138806","title":"A Fast and Efficient Attitude Control Algorithm of a Tilt-Rotor Aerial Platform Using Inputs Redundancies","display_name":"A Fast and Efficient Attitude Control Algorithm of a Tilt-Rotor Aerial Platform Using Inputs Redundancies","publication_year":2021,"publication_date":"2021-12-28","ids":{"openalex":"https://openalex.org/W4205352698","doi":"https://doi.org/10.1109/lra.2021.3138806"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3138806","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3138806","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"],"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/A5102740429","display_name":"Yao Su","orcid":"https://orcid.org/0000-0001-8375-5692"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Yao Su","raw_affiliation_strings":["Mechanical and Aerospace Engineering Department, University of California, LA, USA"],"raw_orcid":"https://orcid.org/0000-0001-8375-5692","affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering Department, University of California, LA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023655289","display_name":"Lecheng Ruan","orcid":"https://orcid.org/0000-0001-5061-3575"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lecheng Ruan","raw_affiliation_strings":["Mechanical and Aerospace Engineering Department, University of California, LA, USA"],"raw_orcid":"https://orcid.org/0000-0001-5061-3575","affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering Department, University of California, LA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087010388","display_name":"Pengkang Yu","orcid":"https://orcid.org/0000-0003-0019-2391"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pengkang Yu","raw_affiliation_strings":["Mechanical and Aerospace Engineering Department, University of California, LA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0019-2391","affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering Department, University of California, LA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029954835","display_name":"Chen-Huan Pi","orcid":null},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chen-Huan Pi","raw_affiliation_strings":["Mechanical Engineering Department, National Yang Ming Chiao Tung University, HsinChu, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, National Yang Ming Chiao Tung University, HsinChu, Taiwan","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034473594","display_name":"Matthew J. Gerber","orcid":"https://orcid.org/0000-0001-9187-4827"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Matthew J. Gerber","raw_affiliation_strings":["Mechanical and Aerospace Engineering Department, University of California, LA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9187-4827","affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering Department, University of California, LA, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024742583","display_name":"Tsu\u2010Chin Tsao","orcid":"https://orcid.org/0000-0003-2087-6221"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tsu-Chin Tsao","raw_affiliation_strings":["Mechanical and Aerospace Engineering Department, University of California, LA, USA"],"raw_orcid":"https://orcid.org/0000-0003-2087-6221","affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering Department, University of California, LA, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5102740429"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.0527,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.91686,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"7","issue":"2","first_page":"1214","last_page":"1221"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9987999796867371,"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/T12158","display_name":"Guidance and Control Systems","score":0.9976999759674072,"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/control-theory","display_name":"Control theory (sociology)","score":0.8682025671005249},{"id":"https://openalex.org/keywords/multirotor","display_name":"Multirotor","score":0.771614670753479},{"id":"https://openalex.org/keywords/inner-loop","display_name":"Inner loop","score":0.7330422401428223},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.7111915946006775},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6955490708351135},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.6368054151535034},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.5983479619026184},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.46251121163368225},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43795308470726013},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.434231698513031},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.43201449513435364},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4158977270126343},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38878506422042847},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37976783514022827},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2300739884376526},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.14412415027618408},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14210355281829834},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1338506042957306},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11640304327011108}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8682025671005249},{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.771614670753479},{"id":"https://openalex.org/C58716799","wikidata":"https://www.wikidata.org/wiki/Q6035648","display_name":"Inner loop","level":3,"score":0.7330422401428223},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.7111915946006775},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6955490708351135},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.6368054151535034},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.5983479619026184},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.46251121163368225},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43795308470726013},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.434231698513031},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.43201449513435364},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4158977270126343},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38878506422042847},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37976783514022827},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2300739884376526},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.14412415027618408},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14210355281829834},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1338506042957306},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11640304327011108},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3138806","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3138806","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W2089908769","https://openalex.org/W2233624306","https://openalex.org/W2593091274","https://openalex.org/W2783007554","https://openalex.org/W2783840519","https://openalex.org/W2794210792","https://openalex.org/W2888207191","https://openalex.org/W2890385496","https://openalex.org/W2954102650","https://openalex.org/W2966182590","https://openalex.org/W2976858455","https://openalex.org/W2989375251","https://openalex.org/W3004135977","https://openalex.org/W3041067699","https://openalex.org/W3094031484","https://openalex.org/W3101738542","https://openalex.org/W3120159349","https://openalex.org/W3135773518","https://openalex.org/W3175451845","https://openalex.org/W3182387552","https://openalex.org/W3182486812","https://openalex.org/W3192694561","https://openalex.org/W3193308342","https://openalex.org/W3205950827","https://openalex.org/W4205102225","https://openalex.org/W4311715451","https://openalex.org/W6788330322","https://openalex.org/W6798487852","https://openalex.org/W6846761534"],"related_works":["https://openalex.org/W2411654953","https://openalex.org/W2139553966","https://openalex.org/W3129016768","https://openalex.org/W1523834375","https://openalex.org/W2784143674","https://openalex.org/W2808807713","https://openalex.org/W1607853376","https://openalex.org/W2026828900","https://openalex.org/W2143856022","https://openalex.org/W4205352698"],"abstract_inverted_index":{"Overactuated":[0],"multirotor":[1,108],"unmanned":[2],"aerial":[3],"vehicles":[4],"(UAVs)":[5],"usually":[6],"consist":[7],"of":[8,29,104],"multiple":[9],"tiltable":[10,121],"thrust":[11,21,46,122,127],"actuators.":[12,123],"The":[13,181],"controllers":[14],"are":[15,95,114,145],"mostly":[16],"designed":[17,164],"by":[18,51,189],"regarding":[19],"the":[20,45,52,59,71,75,78,85,92,102,118,126,149,166,171,177],"forces":[22],"and":[23,32,47,68,83,129,173,187],"actuator":[24,42,133,151],"tilting":[25,130,152],"angles":[26],"as":[27,49,120,143],"inputs":[28,168],"outer-loop":[30],"position":[31],"attitude":[33,160],"controllers,":[34],"while":[35],"formulating":[36],"an":[37,158],"inner-loop":[38,93,150],"controller":[39],"for":[40],"each":[41,132],"to":[43,148,169],"track":[44],"angle":[48,153],"required":[50],"outer-loop.":[53],"This":[54,99],"hierarchical":[55],"control":[56,72,86,162,179],"strategy":[57],"separates":[58],"complicated":[60],"combined":[61],"dynamics":[62,94],"into":[63],"two":[64,79],"relatively":[65],"simple":[66],"systems,":[67],"thus":[69],"simplifies":[70],"design.":[73],"However,":[74],"interaction":[76],"between":[77],"systems":[80],"is":[81,163,183],"neglected":[82],"therefore":[84],"performance":[87],"will":[88],"be":[89],"degraded":[90],"when":[91],"not":[96,146],"sufficiently":[97],"fast.":[98],"letter":[100],"investigates":[101],"capability":[103],"a":[105],"new":[106],"overactuated":[107],"UAV":[109],"configuration,":[110],"where":[111],"regular":[112],"quadcopters":[113],"passively":[115],"hinged":[116],"onto":[117],"frame":[119],"Apart":[124],"from":[125,176],"force":[128],"angle,":[131],"has":[134],"additional":[135],"auxiliary":[136,167],"torque":[137],"inputs,":[138],"which":[139],"exhibit":[140],"fast":[141],"responses":[142],"they":[144],"subject":[147],"dynamics.":[154],"In":[155],"this":[156],"letter,":[157],"add-on":[159],"compensation":[161],"exploiting":[165],"reduce":[170],"tracking":[172],"disturbance-rejection":[174],"errors":[175],"nominal":[178],"loop.":[180],"effectiveness":[182],"demonstrated":[184],"in":[185],"simulation":[186],"verified":[188],"experiment.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}