{"id":"https://openalex.org/W4409916858","doi":"https://doi.org/10.1109/lra.2025.3565364","title":"Fault-Tolerant Control of Lifting-Wing Multicopter Based on Nonlinear MPC","display_name":"Fault-Tolerant Control of Lifting-Wing Multicopter Based on Nonlinear MPC","publication_year":2025,"publication_date":"2025-04-29","ids":{"openalex":"https://openalex.org/W4409916858","doi":"https://doi.org/10.1109/lra.2025.3565364"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3565364","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3565364","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/A5046153983","display_name":"Xinquan Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xinquan Chen","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0001-5323-0120","affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029266676","display_name":"Shuai Wang","orcid":"https://orcid.org/0000-0003-2807-5533"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Wang","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2807-5533","affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111144972","display_name":"Haixin Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haixin Zhao","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0009-2175-7321","affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029675265","display_name":"Kai-Yuan Cai","orcid":"https://orcid.org/0000-0002-4546-2407"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai-Yuan Cai","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4546-2407","affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058029021","display_name":"Quan Quan","orcid":"https://orcid.org/0000-0001-8216-8998"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Quan Quan","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8216-8998","affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5046153983"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":2.1998,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.86971661,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"10","issue":"6","first_page":"6135","last_page":"6142"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9890999794006348,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9890999794006348,"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":0.9537000060081482,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9401999711990356,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.5854675769805908},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.5325089693069458},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5293049812316895},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46773797273635864},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.4538681209087372},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44678205251693726},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18822574615478516},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.15340137481689453},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12478974461555481},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10801893472671509},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.047885507345199585}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5854675769805908},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.5325089693069458},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5293049812316895},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46773797273635864},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.4538681209087372},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44678205251693726},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18822574615478516},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.15340137481689453},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12478974461555481},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10801893472671509},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.047885507345199585},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3565364","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3565364","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":[{"display_name":"Affordable and clean energy","score":0.7900000214576721,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G4932907637","display_name":null,"funder_award_id":"62450127","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W2021101383","https://openalex.org/W2044494131","https://openalex.org/W2062803637","https://openalex.org/W2337964910","https://openalex.org/W2470181639","https://openalex.org/W2683298768","https://openalex.org/W2751627329","https://openalex.org/W2790374560","https://openalex.org/W2794680821","https://openalex.org/W2889334376","https://openalex.org/W2906464253","https://openalex.org/W2995062280","https://openalex.org/W3004099965","https://openalex.org/W3007187873","https://openalex.org/W3175304850","https://openalex.org/W3191829949","https://openalex.org/W3197245022","https://openalex.org/W4213414279","https://openalex.org/W4385413536","https://openalex.org/W4388240415","https://openalex.org/W4389665349","https://openalex.org/W4390939867","https://openalex.org/W4391853886","https://openalex.org/W4393140087","https://openalex.org/W4394906075","https://openalex.org/W4401170668","https://openalex.org/W4402214906","https://openalex.org/W4407424690"],"related_works":["https://openalex.org/W2051353479","https://openalex.org/W2047663700","https://openalex.org/W2145266680","https://openalex.org/W2029869150","https://openalex.org/W3039066287","https://openalex.org/W1978478581","https://openalex.org/W1569654675","https://openalex.org/W1993078269","https://openalex.org/W2068481659","https://openalex.org/W3001195286"],"abstract_inverted_index":{"This":[0],"letter":[1],"proposes":[2],"a":[3,9,93],"fault-tolerant":[4],"control":[5,29,79,135,154,159],"(FTC)":[6],"framework":[7,19,91],"for":[8,48],"novel":[10],"type":[11],"of":[12,17,35,43,58,114,133],"aircraft\u2014lifting-wing":[13],"multicopters.":[14],"The":[15,56],"core":[16],"the":[18,32,36,41,44,59,66,74,89,98,104,112,131,134,147],"is":[20,38],"an":[21],"attitude":[22,78,153],"controller":[23],"based":[24,42,96],"on":[25,40,97],"nonlinear":[26],"model":[27,115],"predictive":[28],"(NMPC),":[30],"where":[31],"objective":[33],"function":[34],"NMPC":[37],"designed":[39],"relaxed":[45,60],"hover":[46,61],"solution":[47,62],"lifting-wing":[49,105,148],"multicopters,":[50],"derived":[51],"theoretically":[52],"in":[53,111],"this":[54],"letter.":[55],"existence":[57],"demonstrates":[63],"that,":[64],"despite":[65],"complex":[67],"aerodynamic":[68],"forces":[69],"and":[70,119,143,155],"moments":[71],"introduced":[72],"by":[73,84],"lifting":[75],"wings,":[76],"stable":[77,152],"can":[80],"still":[81],"be":[82],"achieved":[83],"sacrificing":[85],"yaw":[86],"control.":[87],"Additionally,":[88],"FTC":[90,109],"incorporates":[92],"disturbance":[94],"observer":[95],"Extended":[99],"Kalman":[100],"Filter":[101],"(EKF),":[102],"allowing":[103],"multicopter":[106,149],"to":[107,129],"maintain":[108,151],"even":[110],"presence":[113],"errors,":[116],"sensor":[117],"noise,":[118],"actuator":[120],"response":[121],"delays.":[122],"Initially,":[123],"Model-in-the-Loop":[124],"(MIL)":[125],"simulations":[126],"were":[127],"conducted":[128],"verify":[130],"feasibility":[132],"logic.":[136],"Subsequently,":[137],"real-world":[138],"experiments":[139],"using":[140],"onboard":[141],"sensors":[142],"GPS":[144],"demonstrated":[145],"that":[146],"could":[150],"perform":[156],"outer-loop":[157],"position":[158],"under":[160],"single":[161],"rotor":[162,169],"failure":[163,170],"as":[164,166],"well":[165],"two":[167],"opposite":[168],"conditions.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
