{"id":"https://openalex.org/W2171422212","doi":"https://doi.org/10.1109/robio.2009.5420991","title":"Nonlinear system and control of the model-scale helicopter","display_name":"Nonlinear system and control of the model-scale helicopter","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2171422212","doi":"https://doi.org/10.1109/robio.2009.5420991","mag":"2171422212"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420991","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420991","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/A5010471737","display_name":"Baoquan Song","orcid":"https://orcid.org/0000-0002-6046-8209"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Baoquan Song","raw_affiliation_strings":["College of Electronic Science and Engineering, National University of Defense Technology, Changsha, Hunan, China"],"affiliations":[{"raw_affiliation_string":"College of Electronic Science and Engineering, National University of Defense Technology, Changsha, Hunan, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065080432","display_name":"Caizhi Fan","orcid":"https://orcid.org/0000-0002-3470-3826"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Caizhi Fan","raw_affiliation_strings":["College of Electronic Science and Engineering, National University of Defense Technology, Changsha, Hunan, China"],"affiliations":[{"raw_affiliation_string":"College of Electronic Science and Engineering, National University of Defense Technology, Changsha, Hunan, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunhui Liu","raw_affiliation_strings":["Department of Mechanical and Automation, Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation, Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001918826","display_name":"James K. Mills","orcid":"https://orcid.org/0000-0001-7651-9552"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"James K. Mills","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ONT, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ONT, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102246657","display_name":"Cai Xuan-ping","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuanping Cai","raw_affiliation_strings":["College of Electronic Science and Engineering, National University of Defense Technology, Changsha, Hunan, China"],"affiliations":[{"raw_affiliation_string":"College of Electronic Science and Engineering, National University of Defense Technology, Changsha, Hunan, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5010471737"],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":null,"apc_paid":null,"fwci":1.5308,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.87033075,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"14","issue":null,"first_page":"1081","last_page":"1086"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","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"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9980999827384949,"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"}},{"id":"https://openalex.org/T11233","display_name":"Advanced Adaptive Filtering Techniques","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.8553529977798462},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.7952885031700134},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.6549093723297119},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5856767892837524},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5707935094833374},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.5566819906234741},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.47290003299713135},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.47045910358428955},{"id":"https://openalex.org/keywords/helicopter-rotor","display_name":"Helicopter rotor","score":0.4649431109428406},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4599345028400421},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45383313298225403},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.44991397857666016},{"id":"https://openalex.org/keywords/nonlinear-control","display_name":"Nonlinear control","score":0.42508938908576965},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3762085437774658},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2730313539505005},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15240934491157532}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8553529977798462},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.7952885031700134},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.6549093723297119},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5856767892837524},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5707935094833374},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.5566819906234741},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.47290003299713135},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.47045910358428955},{"id":"https://openalex.org/C177124886","wikidata":"https://www.wikidata.org/wiki/Q1343028","display_name":"Helicopter rotor","level":3,"score":0.4649431109428406},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4599345028400421},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45383313298225403},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.44991397857666016},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.42508938908576965},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3762085437774658},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2730313539505005},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15240934491157532},{"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/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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.5420991","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420991","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W19369269","https://openalex.org/W106539155","https://openalex.org/W110216922","https://openalex.org/W578120400","https://openalex.org/W965620723","https://openalex.org/W1490145063","https://openalex.org/W1497471019","https://openalex.org/W1524247284","https://openalex.org/W1548919691","https://openalex.org/W1973834583","https://openalex.org/W1986484556","https://openalex.org/W2011944606","https://openalex.org/W2034582825","https://openalex.org/W2103608534","https://openalex.org/W2121610374","https://openalex.org/W2129992565","https://openalex.org/W2617901798","https://openalex.org/W4246223937","https://openalex.org/W4285719527","https://openalex.org/W6600760602","https://openalex.org/W6604552405","https://openalex.org/W6629496789","https://openalex.org/W6631278158","https://openalex.org/W6632892962","https://openalex.org/W6679426372","https://openalex.org/W6738901157"],"related_works":["https://openalex.org/W1492513299","https://openalex.org/W2076744753","https://openalex.org/W4229795303","https://openalex.org/W1516849698","https://openalex.org/W4300553158","https://openalex.org/W59754174","https://openalex.org/W164037915","https://openalex.org/W1969341801","https://openalex.org/W2029428524","https://openalex.org/W1900604115"],"abstract_inverted_index":{"A":[0],"nonlinear":[1,52,58,90],"model":[2,19,59,91],"and":[3,27,65],"control":[4],"of":[5,17],"a":[6,56],"small-scale":[7],"helicopter":[8],"near":[9],"hovering":[10],"are":[11],"investigated.":[12],"Aiming":[13],"at":[14],"the":[15,18,21,28,32,41,50,72,79,88],"characteristics":[16],"helicopter,":[20],"stabilizer":[22],"bar":[23],"dynamics":[24,45],"is":[25,35,46,60,69],"studied,":[26],"tail":[29],"rotor":[30,43],"with":[31],"electronic":[33],"gyro":[34],"discussed":[36],"in":[37],"detail.":[38],"In":[39],"addition,":[40],"main":[42],"inflow":[44],"modeled":[47],"basing":[48],"on":[49],"three-state":[51],"Pitt/Peters":[53],"model.":[54],"Then,":[55],"simplified":[57],"proposed":[61],"for":[62],"system":[63],"identification":[64],"controller":[66],"design.":[67],"It":[68],"proved":[70],"that":[71,87],"attitude-heave":[73],"subsystem":[74],"can":[75,92],"be":[76,94],"linearized":[77],"by":[78],"dynamic":[80],"feedback":[81,95],"linearization":[82],"technique.":[83],"So,":[84],"we":[85],"conclude":[86],"full":[89],"also":[93],"linearized.":[96]},"counts_by_year":[{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}