{"id":"https://openalex.org/W2507321204","doi":"https://doi.org/10.1109/med.2016.7536068","title":"A novel concept of attitude control for large multirotor-UAVs based on moving mass control","display_name":"A novel concept of attitude control for large multirotor-UAVs based on moving mass control","publication_year":2016,"publication_date":"2016-06-01","ids":{"openalex":"https://openalex.org/W2507321204","doi":"https://doi.org/10.1109/med.2016.7536068","mag":"2507321204"},"language":"en","primary_location":{"id":"doi:10.1109/med.2016.7536068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2016.7536068","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 24th Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-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/A5055816563","display_name":"Tomislav Haus","orcid":"https://orcid.org/0000-0001-6117-3165"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tomislav Haus","raw_affiliation_strings":["Faculty of Electrical Engineering and Computing, LARICS Laboratory for Robotics and Intelligent Control Systems, Zagreb"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing, LARICS Laboratory for Robotics and Intelligent Control Systems, Zagreb","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035122954","display_name":"Nikola Prkut","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nikola Prkut","raw_affiliation_strings":["Faculty of Electrical Engineering and Computing, LARICS Laboratory for Robotics and Intelligent Control Systems, Zagreb"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing, LARICS Laboratory for Robotics and Intelligent Control Systems, Zagreb","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013648748","display_name":"Katarina Borovina","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Katarina Borovina","raw_affiliation_strings":["Faculty of Electrical Engineering and Computing, LARICS Laboratory for Robotics and Intelligent Control Systems, Zagreb"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing, LARICS Laboratory for Robotics and Intelligent Control Systems, Zagreb","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034666664","display_name":"Bruno Mari\u0107","orcid":"https://orcid.org/0000-0002-0972-7471"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Bruno Maric","raw_affiliation_strings":["Sveuciliste u Zagrebu, Zagreb, Zagreb, HR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sveuciliste u Zagrebu, Zagreb, Zagreb, HR","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085173304","display_name":"Matko Orsag","orcid":"https://orcid.org/0000-0002-9483-9282"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Matko Orsag","raw_affiliation_strings":["Faculty of Electrical Engineering and Computing, LARICS Laboratory for Robotics and Intelligent Control Systems, Zagreb"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing, LARICS Laboratory for Robotics and Intelligent Control Systems, Zagreb","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071197011","display_name":"Stjepan Bogdan","orcid":"https://orcid.org/0000-0003-2636-3216"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Stjepan Bogdan","raw_affiliation_strings":["Faculty of Electrical Engineering and Computing, LARICS Laboratory for Robotics and Intelligent Control Systems, Zagreb"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing, LARICS Laboratory for Robotics and Intelligent Control Systems, Zagreb","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8592,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.90414363,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"18","issue":null,"first_page":"832","last_page":"839"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"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":0.9993000030517578,"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/multirotor","display_name":"Multirotor","score":0.9239110946655273},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.8795626163482666},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.7184025049209595},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.668984591960907},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6558437347412109},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6066199541091919},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5820698142051697},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.49342790246009827},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.48638561367988586},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.48440295457839966},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4590325653553009},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.44398531317710876},{"id":"https://openalex.org/keywords/center-of-mass","display_name":"Center of mass (relativistic)","score":0.4369887411594391},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.21346443891525269},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20001158118247986},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1712840497493744},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07919725775718689}],"concepts":[{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.9239110946655273},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.8795626163482666},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.7184025049209595},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.668984591960907},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6558437347412109},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6066199541091919},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5820698142051697},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.49342790246009827},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.48638561367988586},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.48440295457839966},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4590325653553009},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.44398531317710876},{"id":"https://openalex.org/C36185635","wikidata":"https://www.wikidata.org/wiki/Q17006925","display_name":"Center of mass (relativistic)","level":3,"score":0.4369887411594391},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.21346443891525269},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20001158118247986},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1712840497493744},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07919725775718689},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C47513753","wikidata":"https://www.wikidata.org/wiki/Q3502299","display_name":"Energy\u2013momentum relation","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/med.2016.7536068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2016.7536068","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 24th Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1501966803","https://openalex.org/W1724753117","https://openalex.org/W2012887016","https://openalex.org/W2015367954","https://openalex.org/W2015662060","https://openalex.org/W2029429410","https://openalex.org/W2041218574","https://openalex.org/W2088835836","https://openalex.org/W2110693919","https://openalex.org/W2121385616","https://openalex.org/W2131361272","https://openalex.org/W2138396958","https://openalex.org/W2917442576","https://openalex.org/W3038698521","https://openalex.org/W3141505394","https://openalex.org/W6654090217"],"related_works":["https://openalex.org/W2728521155","https://openalex.org/W2556504211","https://openalex.org/W2810775292","https://openalex.org/W3150660900","https://openalex.org/W2625580943","https://openalex.org/W2914097399","https://openalex.org/W3212684323","https://openalex.org/W3151488434","https://openalex.org/W2078952206","https://openalex.org/W2094374960"],"abstract_inverted_index":{"In":[0,45],"this":[1,46],"work":[2],"we":[3,48,74,89],"aim":[4],"to":[5,26],"explore":[6],"the":[7,11,14,28,31,50,54,57,76,79,96,99],"concept":[8],"of":[9,16,30,56,78,98],"using":[10],"shift":[12],"in":[13,19,82],"center":[15],"gravity,":[17],"which":[18],"turn":[20],"produces":[21],"roll":[22],"and":[23,67,69,101],"pitch":[24],"moments,":[25],"control":[27,65,105],"attitude":[29],"quadrotor.":[32],"We":[33],"propose":[34,60],"constructing":[35],"a":[36,61,83,91],"UAV":[37],"with":[38],"moving":[39],"masses":[40],"within":[41],"each":[42],"rotor":[43],"arm.":[44],"paper":[47],"show":[49],"mathematical":[51],"equations":[52],"describing":[53],"dynamics":[55,97],"proposed":[58,80,104],"system,":[59],"classical":[62],"PID":[63],"based":[64,85],"approach":[66],"analyze":[68,75],"confirm":[70],"its":[71],"stability.":[72],"Furthermore,":[73],"effectiveness":[77],"controller":[81],"Gazebo":[84],"simulation":[86],"environment.":[87],"Finally,":[88],"build":[90],"laboratory":[92],"testbed":[93],"that":[94],"emulates":[95],"system":[100],"test":[102],"our":[103],"strategy.":[106]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
