{"id":"https://openalex.org/W4297684248","doi":"https://doi.org/10.1109/mmar55195.2022.9874290","title":"Robust Control of a Duocopter by Discrete-Time Sliding Mode Techniques and an Extended Kalman Filter for Disturbance Compensation","display_name":"Robust Control of a Duocopter by Discrete-Time Sliding Mode Techniques and an Extended Kalman Filter for Disturbance Compensation","publication_year":2022,"publication_date":"2022-08-22","ids":{"openalex":"https://openalex.org/W4297684248","doi":"https://doi.org/10.1109/mmar55195.2022.9874290"},"language":"en","primary_location":{"id":"doi:10.1109/mmar55195.2022.9874290","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar55195.2022.9874290","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","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/A5061788743","display_name":"Harald Aschemann","orcid":"https://orcid.org/0000-0001-7789-5699"},"institutions":[{"id":"https://openalex.org/I4665924","display_name":"University of Rostock","ror":"https://ror.org/03zdwsf69","country_code":"DE","type":"education","lineage":["https://openalex.org/I4665924"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Harald Aschemann","raw_affiliation_strings":["Chair of Mechatronics, University of Rostock,Germany","Chair of Mechatronics, University of Rostock, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Mechatronics, University of Rostock,Germany","institution_ids":["https://openalex.org/I4665924"]},{"raw_affiliation_string":"Chair of Mechatronics, University of Rostock, Germany","institution_ids":["https://openalex.org/I4665924"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5061788743"],"corresponding_institution_ids":["https://openalex.org/I4665924"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10911782,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"42","issue":null,"first_page":"41","last_page":"46"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9904999732971191,"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":0.8785460591316223},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.7146322727203369},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6269975304603577},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5917446613311768},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.556348979473114},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.47746872901916504},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.471605122089386},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.4471924602985382},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4414964020252228},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.43407705426216125},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.43163660168647766},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4160965085029602},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3647921681404114},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36172956228256226},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.30476924777030945},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.243427574634552},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12452623248100281},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0942130982875824}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8785460591316223},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.7146322727203369},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6269975304603577},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5917446613311768},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.556348979473114},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.47746872901916504},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.471605122089386},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.4471924602985382},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4414964020252228},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.43407705426216125},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.43163660168647766},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4160965085029602},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3647921681404114},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36172956228256226},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.30476924777030945},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.243427574634552},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12452623248100281},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0942130982875824},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mmar55195.2022.9874290","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar55195.2022.9874290","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","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":12,"referenced_works":["https://openalex.org/W1987775743","https://openalex.org/W2019560553","https://openalex.org/W2139118640","https://openalex.org/W2156734731","https://openalex.org/W2171600755","https://openalex.org/W2285898178","https://openalex.org/W2319622004","https://openalex.org/W2551072911","https://openalex.org/W2564328227","https://openalex.org/W4244245697","https://openalex.org/W6683534843","https://openalex.org/W6699965488"],"related_works":["https://openalex.org/W2286391053","https://openalex.org/W2982600058","https://openalex.org/W1963486701","https://openalex.org/W2312483540","https://openalex.org/W4249477090","https://openalex.org/W191745111","https://openalex.org/W1522083559","https://openalex.org/W2103062922","https://openalex.org/W2162299404","https://openalex.org/W2123479323"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,8,12,17,42],"discrete-time":[4],"cascade":[5],"control":[6,25,45,48],"for":[7,29,92],"Duocopter":[9],"which":[10],"represents":[11],"two-rotor":[13],"helicopter":[14],"com-bined":[15],"with":[16],"guiding":[18,97],"mechanism:":[19],"A":[20],"nonlinear":[21],"MIMO":[22],"sliding":[23],"mode":[24],"loop":[26],"is":[27,39,110],"responsible":[28],"the":[30,33,50,56,71,78,82,93,96,100,103],"positioning":[31],"of":[32,77,95,102],"Duocopter,":[34],"while":[35],"its":[36],"rotation":[37],"angle":[38],"controlled":[40],"in":[41],"linear":[43],"inner":[44],"loop.":[46],"Feedforward":[47],"counteracts":[49],"nominal":[51,72],"coupling":[52,73],"forces":[53],"related":[54],"to":[55,87],"guidance.":[57],"Moreover,":[58],"an":[59,106],"extended":[60],"Kalman":[61],"filter":[62],"(EKF)":[63],"estimates":[64,83],"selected":[65],"states":[66],"and":[67,81,89],"remaining":[68],"errors":[69],"concerning":[70],"forces.":[74],"The":[75],"sum":[76],"feedforward":[79],"part":[80],"can":[84],"be":[85],"used":[86],"robustly":[88],"accurately":[90],"compensate":[91],"impact":[94],"mechanism":[98],"on":[99],"motion":[101],"Duocopter.":[104],"Thereby,":[105],"excellent":[107],"tracking":[108],"performance":[109],"achieved.":[111]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}