{"id":"https://openalex.org/W2136551810","doi":"https://doi.org/10.1109/robio.2009.5420545","title":"Design of neural network and backstepping based adaptive flight controller for multi-effector UAV","display_name":"Design of neural network and backstepping based adaptive flight controller for multi-effector UAV","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2136551810","doi":"https://doi.org/10.1109/robio.2009.5420545","mag":"2136551810"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420545","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420545","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5111962511","display_name":"Liwei Qiu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Liwei Qiu","raw_affiliation_strings":["Institute of Automation, Chinese Academy and Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy and Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101572310","display_name":"Guoliang Fan","orcid":"https://orcid.org/0000-0003-2724-2432"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoliang Fan","raw_affiliation_strings":["Institute of Automation, Chinese Academy and Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy and Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019541846","display_name":"Jianqiang Yi","orcid":"https://orcid.org/0000-0003-3268-9482"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianqiang Yi","raw_affiliation_strings":["Institute of Automation, Chinese Academy and Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy and Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086819750","display_name":"Wensheng Yu","orcid":"https://orcid.org/0000-0002-3832-2748"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210139618","display_name":"Shanghai Key Laboratory of Trustworthy Computing","ror":"https://ror.org/030qbr085","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210139618"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wensheng Yu","raw_affiliation_strings":["Institute of Automation, Chinese Academy and Sciences, Beijing, China","Shanghai Key Laboratory of Trustworthy Computing, East China Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy and Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]},{"raw_affiliation_string":"Shanghai Key Laboratory of Trustworthy Computing, East China Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I4210139618"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5111962511"],"corresponding_institution_ids":["https://openalex.org/I4210094879"],"apc_list":null,"apc_paid":null,"fwci":0.7698,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.78467816,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1935","last_page":"1940"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.994700014591217,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.8678818345069885},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7980249524116516},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6401265263557434},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.6034878492355347},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5164077877998352},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5089232921600342},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.47724199295043945},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.4548304080963135},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.44455134868621826},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4443283677101135},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3832559883594513},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.35811319947242737},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.357002317905426},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1519221067428589},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13294005393981934}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.8678818345069885},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7980249524116516},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6401265263557434},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6034878492355347},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5164077877998352},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5089232921600342},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.47724199295043945},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.4548304080963135},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.44455134868621826},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4443283677101135},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3832559883594513},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.35811319947242737},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.357002317905426},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1519221067428589},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13294005393981934},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/robio.2009.5420545","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420545","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W585720652","https://openalex.org/W1948007728","https://openalex.org/W1976822687","https://openalex.org/W2037539475","https://openalex.org/W2053103650","https://openalex.org/W2094990636","https://openalex.org/W2110020005","https://openalex.org/W2145048505","https://openalex.org/W2172171169","https://openalex.org/W2331209800","https://openalex.org/W2335482969","https://openalex.org/W2373106993","https://openalex.org/W2374319408","https://openalex.org/W6681435773","https://openalex.org/W7026709144"],"related_works":["https://openalex.org/W1996201679","https://openalex.org/W2360433292","https://openalex.org/W1847613412","https://openalex.org/W4382203996","https://openalex.org/W2006064304","https://openalex.org/W2108470770","https://openalex.org/W1512021029","https://openalex.org/W1972862722","https://openalex.org/W4255340467","https://openalex.org/W2281732014"],"abstract_inverted_index":{"Research":[0],"of":[1,21,35,62,78,108,141,152],"modern":[2],"flight":[3,24,109],"control":[4,36,123],"methods":[5],"for":[6,38],"unmanned":[7],"aerial":[8],"vehicles":[9],"(UAVs),":[10],"which":[11,60],"lower":[12],"the":[13,19,79,98,106,117,129,132,143],"cost":[14],"and":[15,42,49,66,76,82,95,121,146],"risk":[16],"associated":[17],"with":[18],"design":[20,34,58],"actual":[22],"physical":[23],"systems,":[25],"has":[26,135],"become":[27],"research":[28],"hotspot":[29],"in":[30],"recent":[31],"years.":[32],"However,":[33],"laws":[37],"UAV":[39,46,85,130],"is":[40,102,113],"complicated":[41],"challengeable":[43],"due":[44],"to":[45,104,115],"uncertainties,":[47],"nonlinearity":[48],"coupling.":[50],"This":[51],"paper":[52],"proposes":[53],"a":[54,63,67],"new":[55],"hybrid":[56,133],"controller":[57,65,73,134],"scheme,":[59],"consists":[61],"backstepping":[64,72],"neural":[68,99],"network":[69,100],"compensator.":[70],"The":[71],"realizes":[74],"linearization":[75],"decoupling":[77],"highly":[80],"nonlinear":[81],"tightly":[83],"coupled":[84],"model.":[86],"For":[87],"cancelling":[88],"out":[89],"uncertainties":[90],"such":[91],"as":[92],"unmodeled":[93,144],"dynamics":[94,145],"external":[96],"disturbances,":[97],"compensator":[101],"designed":[103],"enhance":[105],"robustness":[107],"system.":[110],"Pseudoinverse":[111],"method":[112],"applied":[114],"establish":[116],"mapping":[118],"between":[119],"moments":[120],"multiple":[122],"surfaces.":[124],"Numerical":[125],"simulation":[126],"shows":[127],"that":[128],"equipped":[131],"good":[136],"maneuverability,":[137],"strong":[138],"self-learning":[139],"ability":[140],"compensating":[142],"enough":[147],"robust":[148],"stability":[149],"against":[150],"constraints":[151],"actuators.":[153]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}