{"id":"https://openalex.org/W2143856022","doi":"https://doi.org/10.1109/med.2013.6608749","title":"Trajectory control of multirotor helicopters with thrust vector constraints","display_name":"Trajectory control of multirotor helicopters with thrust vector constraints","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W2143856022","doi":"https://doi.org/10.1109/med.2013.6608749","mag":"2143856022"},"language":"en","primary_location":{"id":"doi:10.1109/med.2013.6608749","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2013.6608749","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"21st Mediterranean Conference on Control and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5035021973","display_name":"Davi Ant\u00f4nio dos Santos","orcid":"https://orcid.org/0000-0001-5995-3103"},"institutions":[{"id":"https://openalex.org/I107428990","display_name":"Instituto Tecnol\u00f3gico de Aeron\u00e1utica","ror":"https://ror.org/05vh67662","country_code":"BR","type":"education","lineage":["https://openalex.org/I107428990"]},{"id":"https://openalex.org/I12187552","display_name":"UniLaSalle Amiens (ESIEE-Amiens)","ror":"https://ror.org/03r13py57","country_code":"FR","type":"education","lineage":["https://openalex.org/I12187552"]},{"id":"https://openalex.org/I4210154111","display_name":"Universit\u00e9 Gustave Eiffel","ror":"https://ror.org/03x42jk29","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210154111"]}],"countries":["BR","FR"],"is_corresponding":false,"raw_author_name":"Davi Antonio dos Santos","raw_affiliation_strings":["Universit\u00e9 Paris-Est, ESIEE Paris, Noisyle-Grand, France","Mech. Div., Inst. Tecnol. de Aeronaut., Sa\u0303o Jose\u0301 dos Campos, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit\u00e9 Paris-Est, ESIEE Paris, Noisyle-Grand, France","institution_ids":["https://openalex.org/I12187552","https://openalex.org/I4210154111"]},{"raw_affiliation_string":"Mech. Div., Inst. Tecnol. de Aeronaut., Sa\u0303o Jose\u0301 dos Campos, Brazil","institution_ids":["https://openalex.org/I107428990"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074539605","display_name":"Osamu Saotome","orcid":"https://orcid.org/0000-0002-1568-9299"},"institutions":[{"id":"https://openalex.org/I107428990","display_name":"Instituto Tecnol\u00f3gico de Aeron\u00e1utica","ror":"https://ror.org/05vh67662","country_code":"BR","type":"education","lineage":["https://openalex.org/I107428990"]},{"id":"https://openalex.org/I12187552","display_name":"UniLaSalle Amiens (ESIEE-Amiens)","ror":"https://ror.org/03r13py57","country_code":"FR","type":"education","lineage":["https://openalex.org/I12187552"]},{"id":"https://openalex.org/I4210154111","display_name":"Universit\u00e9 Gustave Eiffel","ror":"https://ror.org/03x42jk29","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210154111"]}],"countries":["BR","FR"],"is_corresponding":false,"raw_author_name":"Osamu Saotome","raw_affiliation_strings":["Universit\u00e9 Paris-Est, ESIEE Paris, Noisyle-Grand, France","Electron. Div., Inst. Tecnol. de Aeronaut., Sa\u0303o Jose\u0301 dos Campos, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit\u00e9 Paris-Est, ESIEE Paris, Noisyle-Grand, France","institution_ids":["https://openalex.org/I12187552","https://openalex.org/I4210154111"]},{"raw_affiliation_string":"Electron. Div., Inst. Tecnol. de Aeronaut., Sa\u0303o Jose\u0301 dos Campos, Brazil","institution_ids":["https://openalex.org/I107428990"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047719086","display_name":"Arben \u00c7ela","orcid":"https://orcid.org/0000-0001-5708-1743"},"institutions":[{"id":"https://openalex.org/I204730241","display_name":"Universit\u00e9 Paris Cit\u00e9","ror":"https://ror.org/05f82e368","country_code":"FR","type":"education","lineage":["https://openalex.org/I204730241"]},{"id":"https://openalex.org/I4210154111","display_name":"Universit\u00e9 Gustave Eiffel","ror":"https://ror.org/03x42jk29","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210154111"]},{"id":"https://openalex.org/I4387154752","display_name":"ESIEE Paris","ror":"https://ror.org/04x383a88","country_code":"FR","type":"education","lineage":["https://openalex.org/I2801673036","https://openalex.org/I4210154111","https://openalex.org/I4387154752"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Arben Cela","raw_affiliation_strings":["Dept. of Embedded Syst. of ESIEE Paris, Univ. Paris-Est, Noisy-le-Grand, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Embedded Syst. of ESIEE Paris, Univ. Paris-Est, Noisy-le-Grand, France","institution_ids":["https://openalex.org/I204730241","https://openalex.org/I4210154111","https://openalex.org/I4387154752"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.2121,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.95291386,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"375","last_page":"379"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9990000128746033,"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.9943000078201294,"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/multirotor","display_name":"Multirotor","score":0.9043697118759155},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8634104132652283},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.790378212928772},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.6934155821800232},{"id":"https://openalex.org/keywords/inner-loop","display_name":"Inner loop","score":0.6611616015434265},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.632688045501709},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.5954996347427368},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5333091616630554},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.4330172538757324},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3840012848377228},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.355152428150177},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.34911784529685974},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2969339191913605},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.28679537773132324},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26424914598464966},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21289896965026855},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1841699481010437}],"concepts":[{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.9043697118759155},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8634104132652283},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.790378212928772},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.6934155821800232},{"id":"https://openalex.org/C58716799","wikidata":"https://www.wikidata.org/wiki/Q6035648","display_name":"Inner loop","level":3,"score":0.6611616015434265},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.632688045501709},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.5954996347427368},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5333091616630554},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.4330172538757324},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3840012848377228},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.355152428150177},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.34911784529685974},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2969339191913605},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.28679537773132324},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26424914598464966},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21289896965026855},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1841699481010437},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/med.2013.6608749","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2013.6608749","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"21st Mediterranean Conference on Control and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1588293909","https://openalex.org/W1973734421","https://openalex.org/W2109920799","https://openalex.org/W2122100154","https://openalex.org/W2153807823","https://openalex.org/W2467377838","https://openalex.org/W4238332135","https://openalex.org/W4245773900","https://openalex.org/W6635247534","https://openalex.org/W6678442431"],"related_works":["https://openalex.org/W2905179461","https://openalex.org/W2411654953","https://openalex.org/W2968553720","https://openalex.org/W2507321204","https://openalex.org/W2897395586","https://openalex.org/W1492513299","https://openalex.org/W2875672739","https://openalex.org/W2143856022","https://openalex.org/W4312713555","https://openalex.org/W2130258097"],"abstract_inverted_index":{"The":[0,39,73,88,104],"multirotor":[1,52],"control":[2,18,29,89,117],"system":[3],"structure":[4],"that":[5],"has":[6],"mostly":[7],"been":[8],"adopted":[9],"is":[10,34,107],"constituted":[11],"by":[12,54,109],"an":[13,16,81,84],"inner":[14,24],"and":[15,66,83],"outer":[17,32],"loop.":[19],"In":[20],"this":[21],"scheme,":[22],"the":[23,31,43,48,62,67,70,77,92,96,118],"loop":[25,33],"carries":[26],"out":[27],"attitude":[28],"while":[30],"responsible":[35],"for":[36],"trajectory":[37,49,123],"control.":[38,87],"present":[40],"work":[41],"addresses":[42],"problem":[44,79],"of":[45,50,69,91],"safely":[46],"controlling":[47],"a":[51,121],"helicopter":[53],"taking":[55],"into":[56,80],"account":[57],"specified":[58],"constraints":[59],"on":[60],"both":[61],"total":[63],"thrust":[64],"magnitude":[65],"inclination":[68],"rotor":[71],"plane.":[72],"proposed":[74,105],"solution":[75],"partitions":[76],"whole":[78],"altitude":[82],"horizontal":[85],"position":[86,130],"laws":[90],"two":[93],"parts":[94],"combine":[95],"feedback":[97],"linearization":[98],"principle":[99],"with":[100],"saturated":[101],"proportional-derivative":[102],"controllers.":[103],"method":[106],"evaluated":[108],"computational":[110],"simulations,":[111],"which":[112],"show":[113],"its":[114],"effectiveness":[115],"to":[116,128],"vehicle":[119],"along":[120],"spiral":[122],"as":[124,126],"well":[125],"respond":[127],"abrupt":[129],"commands.":[131]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
