{"id":"https://openalex.org/W2085501139","doi":"https://doi.org/10.1109/med.2014.6961552","title":"Output controller for quadcopters based on mathematical model decomposition","display_name":"Output controller for quadcopters based on mathematical model decomposition","publication_year":2014,"publication_date":"2014-06-01","ids":{"openalex":"https://openalex.org/W2085501139","doi":"https://doi.org/10.1109/med.2014.6961552","mag":"2085501139"},"language":"en","primary_location":{"id":"doi:10.1109/med.2014.6961552","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2014.6961552","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"22nd 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/A5083189139","display_name":"Anton A. Pyrkin","orcid":"https://orcid.org/0000-0001-8806-4057"},"institutions":[{"id":"https://openalex.org/I173089394","display_name":"ITMO University","ror":"https://ror.org/04txgxn49","country_code":"RU","type":"education","lineage":["https://openalex.org/I173089394"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Anton A. Pyrkin","raw_affiliation_strings":["Department of Control Systems and Informatics, ITMO University, Saint Petersburg, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Systems and Informatics, ITMO University, Saint Petersburg, Russia","institution_ids":["https://openalex.org/I173089394"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067876548","display_name":"Alexey Bobtsov","orcid":"https://orcid.org/0000-0003-1854-6717"},"institutions":[{"id":"https://openalex.org/I173089394","display_name":"ITMO University","ror":"https://ror.org/04txgxn49","country_code":"RU","type":"education","lineage":["https://openalex.org/I173089394"]},{"id":"https://openalex.org/I4210142628","display_name":"Institute of Problems of Mechanical Engineering","ror":"https://ror.org/047pt5178","country_code":"RU","type":"facility","lineage":["https://openalex.org/I1313323035","https://openalex.org/I4210142628","https://openalex.org/I4210164537"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Alexey A. Bobtsov","raw_affiliation_strings":["Department of Control Systems and Informatics, ITMO University, Saint Petersburg, Russia","Laboratory \u201cControl of Complex Systems\u201d, Institute for Problems of Mechanical Engineering, St.Petersburg, Russia","Laboratory \"Control of Complex Systems\", Institute for Problems of Mechanical Engineering, St.Petersburg, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Systems and Informatics, ITMO University, Saint Petersburg, Russia","institution_ids":["https://openalex.org/I173089394"]},{"raw_affiliation_string":"Laboratory \u201cControl of Complex Systems\u201d, Institute for Problems of Mechanical Engineering, St.Petersburg, Russia","institution_ids":["https://openalex.org/I4210142628"]},{"raw_affiliation_string":"Laboratory \"Control of Complex Systems\", Institute for Problems of Mechanical Engineering, St.Petersburg, Russia","institution_ids":["https://openalex.org/I4210142628"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001747199","display_name":"Sergey A. Kolyubin","orcid":"https://orcid.org/0000-0002-8057-1959"},"institutions":[{"id":"https://openalex.org/I173089394","display_name":"ITMO University","ror":"https://ror.org/04txgxn49","country_code":"RU","type":"education","lineage":["https://openalex.org/I173089394"]},{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO","RU"],"is_corresponding":false,"raw_author_name":"Sergey A. Kolyubin","raw_affiliation_strings":["Department of Control Systems and Informatics, ITMO University, Saint Petersburg, Russia","Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Systems and Informatics, ITMO University, Saint Petersburg, Russia","institution_ids":["https://openalex.org/I173089394"]},{"raw_affiliation_string":"Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034462085","display_name":"Oleg I. Borisov","orcid":"https://orcid.org/0000-0002-0350-1885"},"institutions":[{"id":"https://openalex.org/I173089394","display_name":"ITMO University","ror":"https://ror.org/04txgxn49","country_code":"RU","type":"education","lineage":["https://openalex.org/I173089394"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Oleg I. Borisov","raw_affiliation_strings":["Department of Control Systems and Informatics, ITMO University, Saint Petersburg, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Systems and Informatics, ITMO University, Saint Petersburg, Russia","institution_ids":["https://openalex.org/I173089394"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088532430","display_name":"Vladislav S. Gromov","orcid":"https://orcid.org/0000-0002-2416-3766"},"institutions":[{"id":"https://openalex.org/I173089394","display_name":"ITMO University","ror":"https://ror.org/04txgxn49","country_code":"RU","type":"education","lineage":["https://openalex.org/I173089394"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Vladislav S. Gromov","raw_affiliation_strings":["Department of Control Systems and Informatics, ITMO University, Saint Petersburg, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Systems and Informatics, ITMO University, Saint Petersburg, Russia","institution_ids":["https://openalex.org/I173089394"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.5233,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.98112115,"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":"1281","last_page":"1286"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11110","display_name":"Stability and Controllability of Differential Equations","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/T11110","display_name":"Stability and Controllability of Differential Equations","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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9977999925613403,"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":0.9975000023841858,"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/decomposition","display_name":"Decomposition","score":0.6405205726623535},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5855270624160767},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4949018359184265},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.42928871512413025},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40726178884506226},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25202542543411255},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18053913116455078},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15787553787231445}],"concepts":[{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.6405205726623535},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5855270624160767},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4949018359184265},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.42928871512413025},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40726178884506226},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25202542543411255},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18053913116455078},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15787553787231445},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/med.2014.6961552","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2014.6961552","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"22nd Mediterranean Conference on Control and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W564609686","https://openalex.org/W1540361994","https://openalex.org/W1965093873","https://openalex.org/W1994892535","https://openalex.org/W1997588487","https://openalex.org/W2022942580","https://openalex.org/W2023277897","https://openalex.org/W2037661749","https://openalex.org/W2048057213","https://openalex.org/W2051576178","https://openalex.org/W2059109974","https://openalex.org/W2092418590","https://openalex.org/W2095373005","https://openalex.org/W2125721768","https://openalex.org/W2148319451","https://openalex.org/W2162518888","https://openalex.org/W2178205091","https://openalex.org/W2486660817","https://openalex.org/W4232149770","https://openalex.org/W6649708329","https://openalex.org/W6662469867","https://openalex.org/W6674516495"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W4402327032","https://openalex.org/W2000675896"],"abstract_inverted_index":{"In":[0],"the":[1,31,38,51,68,82,108,122,131],"paper":[2],"an":[3],"output":[4],"control":[5,34,86,102],"approach":[6,35,125],"for":[7,115],"a":[8,23,61,71,92,101,137],"class":[9],"of":[10,30,50,73,139],"nonlinear":[11],"MIMO":[12,63,133],"systems":[13],"is":[14,25,46,60,91],"presented.":[15],"A":[16],"multicopter":[17],"with":[18],"four":[19],"symmetrical":[20],"rotors,":[21],"i.e.":[22],"quadcopter,":[24],"chosen":[26],"to":[27,99],"illustrate":[28],"effectiveness":[29],"proposed":[32],"adaptive":[33],"based":[36],"on":[37,54],"high-gain":[39],"principle":[40],"so-called":[41],"\u201cconsecutive":[42,126],"compensator\u201d.":[43,127],"Output":[44],"controller":[45],"designed":[47],"by":[48,81],"decomposition":[49],"mathematical":[52],"model":[53],"two":[55,105],"parts.":[56],"The":[57,88],"first":[58,109],"one":[59,90],"static":[62],"transformation":[64,134],"(more":[65],"precisely,":[66],"in":[67,104],"considering":[69],"case":[70],"system":[72],"linear":[74],"equations":[75],"which":[76],"relates":[77],"lift":[78,141],"forces":[79],"generated":[80],"actuators":[83],"and":[84],"virtual":[85,113],"inputs).":[87],"second":[89],"few":[93],"SISO":[94,117],"channels.":[95],"Such":[96],"trick":[97],"allows":[98],"design":[100,112],"law":[103],"steps.":[106],"At":[107],"step":[110],"we":[111,120,135],"controls":[114],"each":[116],"channel.":[118],"Here":[119],"apply":[121],"mentioned":[123],"systematic":[124],"And":[128],"then":[129],"after":[130],"inverse":[132],"get":[136],"set":[138],"real":[140],"forces.":[142]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}