{"id":"https://openalex.org/W2055211998","doi":"https://doi.org/10.1109/robio.2014.7090581","title":"Asymptotic stabilization of quadrotor helicopter's attitude using an optimal hierarchical control technique","display_name":"Asymptotic stabilization of quadrotor helicopter's attitude using an optimal hierarchical control technique","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W2055211998","doi":"https://doi.org/10.1109/robio.2014.7090581","mag":"2055211998"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2014.7090581","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090581","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","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/A5073588736","display_name":"W. Hadjadj-Aoul","orcid":null},"institutions":[{"id":"https://openalex.org/I137407579","display_name":"Universit\u00e9 Oran 1 Ahmed Ben Bella","ror":"https://ror.org/059et2b68","country_code":"DZ","type":"education","lineage":["https://openalex.org/I137407579"]},{"id":"https://openalex.org/I4210110683","display_name":"Groupe d\u2019\u00c9tude de la Mati\u00e8re Condens\u00e9e","ror":"https://ror.org/01wrng808","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I195731000","https://openalex.org/I277688954","https://openalex.org/I4210098836","https://openalex.org/I4210110683"]}],"countries":["DZ","FR"],"is_corresponding":false,"raw_author_name":"W. Hadjadj-Aoul","raw_affiliation_strings":["Department of Mathematics, University of Es-Senia, Oran, Algeria","Laboratoire d'Ingenierie des syst\u00e8mes of Versailles' University, Versailles, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mathematics, University of Es-Senia, Oran, Algeria","institution_ids":["https://openalex.org/I137407579"]},{"raw_affiliation_string":"Laboratoire d'Ingenierie des syst\u00e8mes of Versailles' University, Versailles, France","institution_ids":["https://openalex.org/I4210110683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071470834","display_name":"Abdellah Mokhtari","orcid":"https://orcid.org/0000-0001-7111-7802"},"institutions":[{"id":"https://openalex.org/I3124969661","display_name":"Universit\u00e9 des Sciences et de la Technologie d'Oran Mohamed Boudiaf","ror":"https://ror.org/02nbj1r55","country_code":"DZ","type":"education","lineage":["https://openalex.org/I3124969661"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"A. Mokhtari","raw_affiliation_strings":["Departement of Marine, University of Science and Technology, Oran, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departement of Marine, University of Science and Technology, Oran, Algeria","institution_ids":["https://openalex.org/I3124969661"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018772653","display_name":"Abdelaziz Benallegue","orcid":"https://orcid.org/0000-0003-2316-7981"},"institutions":[{"id":"https://openalex.org/I4210110683","display_name":"Groupe d\u2019\u00c9tude de la Mati\u00e8re Condens\u00e9e","ror":"https://ror.org/01wrng808","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I195731000","https://openalex.org/I277688954","https://openalex.org/I4210098836","https://openalex.org/I4210110683"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"A. Benallegue","raw_affiliation_strings":["Laboratoire d'Ingenierie des syst\u00e8mes of Versailles' University, Versailles, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire d'Ingenierie des syst\u00e8mes of Versailles' University, Versailles, France","institution_ids":["https://openalex.org/I4210110683"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4659,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.55078758,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"1709","last_page":"1713"},"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9965000152587891,"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":0.9961000084877014,"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/backstepping","display_name":"Backstepping","score":0.8249441385269165},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8153841495513916},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.7726695537567139},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.6671438217163086},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.6456339359283447},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.621250331401825},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.6204830408096313},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.5719118118286133},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.558774471282959},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5481189489364624},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.49156293272972107},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4705251455307007},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3331296145915985},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3289623260498047},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.23530668020248413},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21436038613319397},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.20295965671539307},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.1989864706993103},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17494219541549683},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.0972452163696289},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08953893184661865}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.8249441385269165},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8153841495513916},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.7726695537567139},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.6671438217163086},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.6456339359283447},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.621250331401825},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.6204830408096313},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.5719118118286133},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.558774471282959},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5481189489364624},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.49156293272972107},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4705251455307007},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3331296145915985},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3289623260498047},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.23530668020248413},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21436038613319397},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.20295965671539307},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.1989864706993103},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17494219541549683},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0972452163696289},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08953893184661865},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/robio.2014.7090581","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090581","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W374079423","https://openalex.org/W1555447860","https://openalex.org/W1580872289","https://openalex.org/W1965543533","https://openalex.org/W1979395020","https://openalex.org/W1998842416","https://openalex.org/W2046287268","https://openalex.org/W2053785463","https://openalex.org/W2064497965","https://openalex.org/W2095019635","https://openalex.org/W2096949069","https://openalex.org/W2110497366","https://openalex.org/W2115644683","https://openalex.org/W2152856670","https://openalex.org/W2157331901","https://openalex.org/W2163446304","https://openalex.org/W6633388537","https://openalex.org/W6634484275"],"related_works":["https://openalex.org/W2370734581","https://openalex.org/W3208757836","https://openalex.org/W2368484960","https://openalex.org/W4309462258","https://openalex.org/W2094011599","https://openalex.org/W1541746961","https://openalex.org/W2892019095","https://openalex.org/W2163045496","https://openalex.org/W1482547037","https://openalex.org/W4366779513"],"abstract_inverted_index":{"A":[0],"hierarchical":[1],"controller":[2],"design":[3,40,86,105],"based":[4],"on":[5],"nonlinear":[6],"optimal":[7,43,56,88,100],"theory":[8],"and":[9,76,112],"backstepping":[10],"technique":[11],"is":[12,30,59,109,131],"developed.":[13],"This":[14],"control":[15,75,89,107],"law":[16],"which":[17],"stabilizes":[18],"globally":[19],"the":[20,23,27,36,48,52,82,93,98,122,128],"attitude":[21],"of":[22,51,72,115,127],"system":[24],"for":[25,35,81],"all":[26],"equilibrium":[28],"points,":[29],"parameterized":[31],"by":[32,133],"quaternions.":[33],"First,":[34],"kinematic":[37],"subsystem,":[38,84],"we":[39,85,104],"a":[41,70,87,106],"virtual":[42,99],"angular":[44,57,94,101],"velocity.":[45,102],"To":[46],"obtain":[47],"global":[49],"minimum":[50],"performance":[53],"index,":[54],"this":[55],"velocity":[58,95],"only":[60],"discontinuous":[61],"in":[62],"initial":[63],"values.":[64],"It":[65],"can":[66,91],"be":[67],"regarded":[68],"as":[69],"combination":[71],"open":[73],"loop":[74,78],"closed":[77],"control.":[79],"Then":[80],"dynamic":[83],"that":[90,108,118],"force":[92],"to":[96,121],"track":[97],"Thus,":[103],"more":[110],"natural":[111],"efficient":[113],"use":[114],"energy,":[116],"fact":[117],"states":[119],"converge":[120],"nearest":[123],"equilibrium.":[124],"The":[125],"effectiveness":[126],"proposed":[129],"method":[130],"demonstrated":[132],"simulation":[134],"results.":[135]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
