{"id":"https://openalex.org/W3092548267","doi":"https://doi.org/10.1109/safeprocess45799.2019.9213356","title":"Active Fault-Tolerant Tracking Control of an Unmanned Quadrotor Helicopter under Sensor Faults","display_name":"Active Fault-Tolerant Tracking Control of an Unmanned Quadrotor Helicopter under Sensor Faults","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W3092548267","doi":"https://doi.org/10.1109/safeprocess45799.2019.9213356","mag":"3092548267"},"language":"en","primary_location":{"id":"doi:10.1109/safeprocess45799.2019.9213356","is_oa":false,"landing_page_url":"https://doi.org/10.1109/safeprocess45799.2019.9213356","pdf_url":null,"source":{"id":"https://openalex.org/S4306498460","display_name":"2019 CAA Symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 CAA Symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)","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/A5019224877","display_name":"Yujiang Zhong","orcid":"https://orcid.org/0000-0002-4093-8795"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yujiang Zhong","raw_affiliation_strings":["School of Aeronautics, Northwestern Ploytechnical University, Xi'an, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aeronautics, Northwestern Ploytechnical University, Xi'an, P. R. China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100719677","display_name":"Wei Zhang","orcid":"https://orcid.org/0000-0003-2281-9343"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wei Zhang","raw_affiliation_strings":["School of Aeronautics, Northwestern Ploytechnical University, Xi'an, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aeronautics, Northwestern Ploytechnical University, Xi'an, P. R. China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100416422","display_name":"Youmin Zhang","orcid":"https://orcid.org/0000-0002-9731-5943"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Youmin Zhang","raw_affiliation_strings":["Department of Mechniacal, Industrial & Aerospace Engineering, Concordia University, Montreal, QC H3G 1M8, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechniacal, Industrial & Aerospace Engineering, Concordia University, Montreal, QC H3G 1M8, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101829223","display_name":"Lidong Zhang","orcid":"https://orcid.org/0009-0005-0221-4410"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lidong Zhang","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Fudan University, Shanghai, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Fudan University, Shanghai, P. R. China","institution_ids":["https://openalex.org/I9842412","https://openalex.org/I24943067"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3372,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.63050754,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"788","last_page":"793"},"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9991000294685364,"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":0.9941999912261963,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7935130000114441},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.6094433665275574},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5971851348876953},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.5646260380744934},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5489063262939453},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5464822053909302},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5277719497680664},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5188571214675903},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.49790072441101074},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4947754740715027},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.48024824261665344},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4779343903064728},{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.4483368694782257},{"id":"https://openalex.org/keywords/active-fault","display_name":"Active fault","score":0.4315853714942932},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.42763108015060425},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4128909707069397},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35823291540145874},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.15776702761650085},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1177072525024414}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7935130000114441},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.6094433665275574},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5971851348876953},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.5646260380744934},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5489063262939453},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5464822053909302},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5277719497680664},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5188571214675903},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.49790072441101074},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4947754740715027},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.48024824261665344},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4779343903064728},{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.4483368694782257},{"id":"https://openalex.org/C26001220","wikidata":"https://www.wikidata.org/wiki/Q1089248","display_name":"Active fault","level":3,"score":0.4315853714942932},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.42763108015060425},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4128909707069397},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35823291540145874},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.15776702761650085},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1177072525024414},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/safeprocess45799.2019.9213356","is_oa":false,"landing_page_url":"https://doi.org/10.1109/safeprocess45799.2019.9213356","pdf_url":null,"source":{"id":"https://openalex.org/S4306498460","display_name":"2019 CAA Symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 CAA Symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)","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":14,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1995705405","https://openalex.org/W2003688959","https://openalex.org/W2042139905","https://openalex.org/W2247630581","https://openalex.org/W2574212447","https://openalex.org/W2597614520","https://openalex.org/W2625020463","https://openalex.org/W2746528271","https://openalex.org/W2801716262","https://openalex.org/W2809901948","https://openalex.org/W2889078503","https://openalex.org/W2911309639","https://openalex.org/W6743111794"],"related_works":["https://openalex.org/W2089114113","https://openalex.org/W2389555968","https://openalex.org/W2352634297","https://openalex.org/W2320550378","https://openalex.org/W80107739","https://openalex.org/W2020144404","https://openalex.org/W4372347353","https://openalex.org/W2149615975","https://openalex.org/W2229640938","https://openalex.org/W4321601985"],"abstract_inverted_index":{"This":[0],"paper":[1],"is":[2,29,59,93],"devoted":[3],"to":[4,61,73,116],"the":[5,35,45,49,63,66,75,82,105,109,118,128],"design":[6],"of":[7,121],"a":[8,86,97],"nonlinear":[9],"active":[10,83],"fault-tolerant":[11,84],"tracking":[12],"control":[13,47,56,111],"(AFTTC)":[14],"scheme":[15,28,92,131],"for":[16,44],"an":[17],"unmanned":[18],"quadrotor":[19],"helicopter":[20],"(UQH)":[21],"under":[22],"sensor":[23,122],"faults.":[24,123],"The":[25,53],"proposed":[26,129],"AFTTC":[27,130],"divided":[30],"into":[31],"two":[32],"loops,":[33],"where":[34],"outer":[36],"loop":[37,40],"and":[38,48,69,72,77,89,137],"inner":[39],"controllers":[41],"are":[42,113],"designed":[43],"position":[46],"attitude":[50],"control,":[51,85],"respectively.":[52],"sliding":[54],"mode":[55],"(SMC)":[57],"algorithm":[58],"introduced":[60],"make":[62],"UQH":[64],"track":[65],"desired":[67],"trajectory":[68],"yaw":[70],"angle,":[71],"stabilize":[74],"pitch":[76],"roll":[78],"motions.":[79],"For":[80],"implementing":[81],"fault":[87,107],"detection":[88],"diagnosis":[90],"(FDD)":[91],"constructed":[94],"by":[95],"utilizing":[96],"robust":[98],"three-step":[99],"unscented":[100],"Kalman":[101],"filter.":[102],"Based":[103],"on":[104],"precise":[106],"information,":[108],"SMC-based":[110],"laws":[112],"updated":[114],"online":[115],"mitigate":[117],"adverse":[119],"effects":[120],"Simulation":[124],"results":[125],"show":[126],"that":[127],"works":[132],"well":[133],"in":[134],"both":[135],"normal":[136],"different":[138],"faulty":[139],"scenarios.":[140]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}