{"id":"https://openalex.org/W4414080149","doi":"https://doi.org/10.1109/lra.2025.3607272","title":"ANN-MPC: An Adaptive Neural Network-Based Nonlinear Model Predictive Control Method for Robust Trajectory Tracking of Quadrotors","display_name":"ANN-MPC: An Adaptive Neural Network-Based Nonlinear Model Predictive Control Method for Robust Trajectory Tracking of Quadrotors","publication_year":2025,"publication_date":"2025-09-08","ids":{"openalex":"https://openalex.org/W4414080149","doi":"https://doi.org/10.1109/lra.2025.3607272"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3607272","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3607272","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":null,"display_name":"Chuixu Kong","orcid":"https://orcid.org/0009-0009-9539-6936"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210137199","display_name":"Aerospace Information Research Institute","ror":"https://ror.org/0419fj215","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210137199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuixu Kong","raw_affiliation_strings":["Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0009-9539-6936","affiliations":[{"raw_affiliation_string":"Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210137199"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Bin Wang","orcid":"https://orcid.org/0009-0003-3278-6714"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210137199","display_name":"Aerospace Information Research Institute","ror":"https://ror.org/0419fj215","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210137199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Wang","raw_affiliation_strings":["Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0003-3278-6714","affiliations":[{"raw_affiliation_string":"Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210137199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102380965","display_name":"Liang He","orcid":null},"institutions":[{"id":"https://openalex.org/I4210159835","display_name":"Perceptive Engineering (United Kingdom)","ror":"https://ror.org/05qep9y26","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210159835"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Liang He","raw_affiliation_strings":["National Key Laboratory of Intelligent Collaborative Perception and Analytic Cognition, Beijing, China","National Key Laboratory of Intelligent Collaborative Perception, Analytic Cognition, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-0604-6443","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Intelligent Collaborative Perception and Analytic Cognition, Beijing, China","institution_ids":["https://openalex.org/I4210159835"]},{"raw_affiliation_string":"National Key Laboratory of Intelligent Collaborative Perception, Analytic Cognition, Beijing, China","institution_ids":["https://openalex.org/I4210159835"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Qinglong Jiang","orcid":"https://orcid.org/0009-0005-8200-7007"},"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":"Qinglong Jiang","raw_affiliation_strings":["Shen Yuan Honors College of Beihang University, Beijing, China","Shen Yuan Honors College, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0005-8200-7007","affiliations":[{"raw_affiliation_string":"Shen Yuan Honors College of Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Shen Yuan Honors College, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":null,"display_name":"Chang Liu","orcid":"https://orcid.org/0000-0003-1807-668X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210137199","display_name":"Aerospace Information Research Institute","ror":"https://ror.org/0419fj215","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210137199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chang Liu","raw_affiliation_strings":["Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-1807-668X","affiliations":[{"raw_affiliation_string":"Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210137199"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":1.0785,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.75579059,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"10","issue":"10","first_page":"10966","last_page":"10973"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9890000224113464,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9890000224113464,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9793000221252441,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.9585999846458435,"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/control-theory","display_name":"Control theory (sociology)","score":0.8083999752998352},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6862000226974487},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5019000172615051},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5008000135421753},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.49320000410079956},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4779999852180481},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.43529999256134033},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.40639999508857727},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4043999910354614},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4000000059604645}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8083999752998352},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6862000226974487},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6341999769210815},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5019000172615051},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5008000135421753},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.49320000410079956},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47859999537467957},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4779999852180481},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.43529999256134033},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.40639999508857727},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4043999910354614},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4000000059604645},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.38609999418258667},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.38589999079704285},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.38029998540878296},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.3781999945640564},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.36730000376701355},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.3637999892234802},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.3127000033855438},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.303600013256073},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3018999993801117},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.28619998693466187},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.28060001134872437},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.2791000008583069},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.2743000090122223},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.26840001344680786},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.26589998602867126},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2597000002861023},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.25949999690055847},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.2558000087738037}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3607272","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3607272","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1582919213","https://openalex.org/W1977164425","https://openalex.org/W2044698172","https://openalex.org/W2097696157","https://openalex.org/W2135493101","https://openalex.org/W2566343246","https://openalex.org/W2883576090","https://openalex.org/W2909122662","https://openalex.org/W2954115742","https://openalex.org/W2970930573","https://openalex.org/W2982079547","https://openalex.org/W3026142217","https://openalex.org/W3123524846","https://openalex.org/W3131518230","https://openalex.org/W3131850807","https://openalex.org/W3135773518","https://openalex.org/W3197225143","https://openalex.org/W3197857322","https://openalex.org/W3199197426","https://openalex.org/W3217056046","https://openalex.org/W4229014698","https://openalex.org/W4286372820","https://openalex.org/W4321380998","https://openalex.org/W4323644181","https://openalex.org/W4386523060","https://openalex.org/W4389284533","https://openalex.org/W4389666127","https://openalex.org/W4389666463","https://openalex.org/W4392024211","https://openalex.org/W4398237376","https://openalex.org/W4405056187"],"related_works":["https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W4309225183","https://openalex.org/W2157008402","https://openalex.org/W1631623342","https://openalex.org/W1779399219","https://openalex.org/W648378158","https://openalex.org/W3083517787","https://openalex.org/W1839440842"],"abstract_inverted_index":{"Quadrotor":[0],"systems,":[1],"despite":[2],"their":[3],"extensive":[4],"deployment":[5],"in":[6,36,95,105],"diverse":[7],"application":[8],"domains,":[9],"face":[10],"substantial":[11,86],"performance":[12,87],"degradation":[13],"due":[14],"to":[15],"three":[16],"predominant":[17],"factors:":[18],"unmodeled":[19],"aerodynamic":[20],"phenomena,":[21],"persistent":[22],"wind":[23],"disturbances,":[24],"and":[25,68,101],"unanticipated":[26],"payload":[27],"variations.":[28],"These":[29],"challenges":[30],"collectively":[31],"compromise":[32],"precise":[33],"trajectory":[34],"tracking":[35,92],"dynamic":[37],"environments.":[38],"To":[39],"address":[40],"these":[41],"limitations,":[42],"this":[43],"study":[44],"introduces":[45],"an":[46,52],"integrated":[47],"control":[48,74],"architecture":[49],"combining":[50],"1)":[51],"adaptive":[53,66],"neural":[54],"network":[55],"disturbance":[56,80,110],"observer":[57],"(ANNDO)":[58],"with":[59,78,113],"guaranteed":[60],"Lyapunov":[61],"stability":[62],"through":[63],"carefully":[64],"designed":[65],"laws,":[67],"2)":[69],"a":[70],"modified":[71],"model":[72],"predictive":[73],"(MPC)":[75],"scheme":[76],"enhanced":[77],"real-time":[79],"compensation.":[81],"The":[82],"proposed":[83],"framework":[84],"demonstrates":[85],"improvements,":[88],"achieving":[89],"over":[90,102],"80%":[91],"accuracy":[93],"enhancement":[94],"numerical":[96],"simulations":[97],"during":[98],"agile":[99],"flight,":[100],"50%":[103],"improvement":[104],"physical":[106],"experiments":[107],"involving":[108],"complex":[109],"rejection,":[111],"compared":[112],"baseline":[114],"MPC.":[115]},"counts_by_year":[{"year":2026,"cited_by_count":4}],"updated_date":"2026-08-27T14:10:00.468798","created_date":"2025-10-10T00:00:00"}