{"id":"https://openalex.org/W2980083771","doi":"https://doi.org/10.1109/systol.2019.8864770","title":"Fault Tolerant Control of a Spherical UAV","display_name":"Fault Tolerant Control of a Spherical UAV","publication_year":2019,"publication_date":"2019-09-01","ids":{"openalex":"https://openalex.org/W2980083771","doi":"https://doi.org/10.1109/systol.2019.8864770","mag":"2980083771"},"language":"en","primary_location":{"id":"doi:10.1109/systol.2019.8864770","is_oa":false,"landing_page_url":"https://doi.org/10.1109/systol.2019.8864770","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 4th Conference on Control and Fault Tolerant Systems (SysTol)","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/A5011131520","display_name":"Ahmed Khattab","orcid":"https://orcid.org/0000-0002-3425-9833"},"institutions":[{"id":"https://openalex.org/I23923803","display_name":"University of Exeter","ror":"https://ror.org/03yghzc09","country_code":"GB","type":"education","lineage":["https://openalex.org/I23923803"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Ahmed Khattab","raw_affiliation_strings":["University of Exeter, UK"],"affiliations":[{"raw_affiliation_string":"University of Exeter, UK","institution_ids":["https://openalex.org/I23923803"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032690914","display_name":"Halim Alwi","orcid":"https://orcid.org/0000-0002-2892-6660"},"institutions":[{"id":"https://openalex.org/I23923803","display_name":"University of Exeter","ror":"https://ror.org/03yghzc09","country_code":"GB","type":"education","lineage":["https://openalex.org/I23923803"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Halim Alwi","raw_affiliation_strings":["University of Exeter, UK"],"affiliations":[{"raw_affiliation_string":"University of Exeter, UK","institution_ids":["https://openalex.org/I23923803"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032380690","display_name":"Christopher Edwards","orcid":"https://orcid.org/0000-0002-2222-0640"},"institutions":[{"id":"https://openalex.org/I23923803","display_name":"University of Exeter","ror":"https://ror.org/03yghzc09","country_code":"GB","type":"education","lineage":["https://openalex.org/I23923803"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Christopher Edwards","raw_affiliation_strings":["University of Exeter, UK"],"affiliations":[{"raw_affiliation_string":"University of Exeter, UK","institution_ids":["https://openalex.org/I23923803"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5011131520"],"corresponding_institution_ids":["https://openalex.org/I23923803"],"apc_list":null,"apc_paid":null,"fwci":0.1663,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.49085451,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":"2","issue":null,"first_page":"92","last_page":"97"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9962000250816345,"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":0.9962000250816345,"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/T10999","display_name":"Organ Transplantation Techniques and Outcomes","score":0.9848999977111816,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9768000245094299,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.8557678461074829},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.8544005155563354},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.7727481126785278},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5919579863548279},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5882685780525208},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5320269465446472},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5070068836212158},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5021593570709229},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.47377634048461914},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4700331389904022},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.46981361508369446},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4199315905570984},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.412169873714447},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.369717001914978},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13762050867080688},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.09886479377746582},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.05880284309387207}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8557678461074829},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.8544005155563354},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.7727481126785278},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5919579863548279},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5882685780525208},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5320269465446472},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5070068836212158},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5021593570709229},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.47377634048461914},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4700331389904022},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.46981361508369446},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4199315905570984},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.412169873714447},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.369717001914978},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13762050867080688},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.09886479377746582},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.05880284309387207},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/systol.2019.8864770","is_oa":false,"landing_page_url":"https://doi.org/10.1109/systol.2019.8864770","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 4th Conference on Control and Fault Tolerant Systems (SysTol)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.6200000047683716,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G5605957225","display_name":null,"funder_award_id":"EP/P015409/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W580979487","https://openalex.org/W1534966272","https://openalex.org/W1605160584","https://openalex.org/W2083126864","https://openalex.org/W2170346472","https://openalex.org/W2260899556","https://openalex.org/W2322739994","https://openalex.org/W2510393621","https://openalex.org/W2528331623","https://openalex.org/W2528414136","https://openalex.org/W4256152864","https://openalex.org/W4256153703"],"related_works":["https://openalex.org/W13160563","https://openalex.org/W3498480","https://openalex.org/W4047883","https://openalex.org/W10506066","https://openalex.org/W5959852","https://openalex.org/W7094366","https://openalex.org/W6897342","https://openalex.org/W12115562","https://openalex.org/W10121594","https://openalex.org/W4227492"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"an":[3],"FTC":[4,25],"schemes":[5],"for":[6,75],"a":[7],"spherical":[8,11],"UAV.":[9],"The":[10,23,44,64],"UAV":[12],"prototype":[13],"consists":[14],"of":[15,50],"two":[16],"counter-rotating":[17],"propellers":[18],"and":[19],"eight":[20],"control":[21,33,36,46,58],"vanes.":[22],"proposed":[24],"scheme":[26],"is":[27],"based":[28],"on":[29,67],"combining":[30],"sliding":[31],"mode":[32],"with":[34],"online":[35,45],"allocation":[37,47],"to":[38,55,60],"exploit":[39],"the":[40,51,57,61,68],"available":[41],"actuator":[42,52],"redundancy.":[43],"exploits":[48],"knowledge":[49],"effectiveness":[53],"levels":[54],"redistribute":[56],"signals":[59],"healthy":[62],"actuators.":[63],"simulation":[65],"results":[66],"nonlinear":[69],"model":[70],"show":[71],"good":[72],"tracking":[73],"performance":[74],"various":[76],"fault/failure":[77],"scenarios.":[78]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}