{"id":"https://openalex.org/W4390480685","doi":"https://doi.org/10.1109/tac.2023.3349098","title":"Model Predictive Control for Quadcopters With Almost Global Trajectory Tracking Guarantees","display_name":"Model Predictive Control for Quadcopters With Almost Global Trajectory Tracking Guarantees","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4390480685","doi":"https://doi.org/10.1109/tac.2023.3349098"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2023.3349098","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2023.3349098","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pure.tue.nl/ws/files/336894291/Model_Predictive_Control_for_Quadcopters_With_Almost_Global_Trajectory_Tracking_Guarantees.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5077039620","display_name":"A.R.P. Andri\u00ebn","orcid":"https://orcid.org/0000-0002-7001-8607"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"A. R. P. Andri\u00ebn","raw_affiliation_strings":["Control Systems Technology Group, Eindhoven, The Netherlands","Control Systems Technology Group and E. Lefeber is with Dynamics and Control Group, Dep. of Mech. Engineering, Eindhoven University of Technology, Eindhoven, AE, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Control Systems Technology Group, Eindhoven, The Netherlands","institution_ids":["https://openalex.org/I83019370"]},{"raw_affiliation_string":"Control Systems Technology Group and E. Lefeber is with Dynamics and Control Group, Dep. of Mech. Engineering, Eindhoven University of Technology, Eindhoven, AE, The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067152840","display_name":"Erjen Lefeber","orcid":"https://orcid.org/0000-0002-5455-2834"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"E. Lefeber","raw_affiliation_strings":["Dynamics and Control Group, Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands","Control Systems Technology Group and E. Lefeber is with Dynamics and Control Group, Dep. of Mech. Engineering, Eindhoven University of Technology, Eindhoven, AE, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Dynamics and Control Group, Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands","institution_ids":["https://openalex.org/I83019370"]},{"raw_affiliation_string":"Control Systems Technology Group and E. Lefeber is with Dynamics and Control Group, Dep. of Mech. Engineering, Eindhoven University of Technology, Eindhoven, AE, The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013274345","display_name":"Duarte Antunes","orcid":"https://orcid.org/0000-0003-3047-9334"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"D. J. Antunes","raw_affiliation_strings":["Control Systems Technology Group, Eindhoven, The Netherlands","Control Systems Technology Group and E. Lefeber is with Dynamics and Control Group, Dep. of Mech. Engineering, Eindhoven University of Technology, Eindhoven, AE, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Control Systems Technology Group, Eindhoven, The Netherlands","institution_ids":["https://openalex.org/I83019370"]},{"raw_affiliation_string":"Control Systems Technology Group and E. Lefeber is with Dynamics and Control Group, Dep. of Mech. Engineering, Eindhoven University of Technology, Eindhoven, AE, The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063241688","display_name":"W.P.M.H. Heemels","orcid":"https://orcid.org/0000-0003-3440-8007"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"W. P. M. H. Heemels","raw_affiliation_strings":["Control Systems Technology Group, Eindhoven, The Netherlands","Control Systems Technology Group and E. Lefeber is with Dynamics and Control Group, Dep. of Mech. Engineering, Eindhoven University of Technology, Eindhoven, AE, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Control Systems Technology Group, Eindhoven, The Netherlands","institution_ids":["https://openalex.org/I83019370"]},{"raw_affiliation_string":"Control Systems Technology Group and E. Lefeber is with Dynamics and Control Group, Dep. of Mech. Engineering, Eindhoven University of Technology, Eindhoven, AE, The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5077039620"],"corresponding_institution_ids":["https://openalex.org/I83019370"],"apc_list":null,"apc_paid":null,"fwci":4.1087,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.93956199,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"69","issue":"8","first_page":"5216","last_page":"5230"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10046","display_name":"Stability and Control of Uncertain Systems","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"}},"topics":[{"id":"https://openalex.org/T10046","display_name":"Stability and Control of Uncertain Systems","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"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9944999814033508,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9939000010490417,"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/control-theory","display_name":"Control theory (sociology)","score":0.8366019129753113},{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.7690192461013794},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7425349354743958},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6525483131408691},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5716075897216797},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5268660187721252},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5216189622879028},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5089306831359863},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4809814691543579},{"id":"https://openalex.org/keywords/stability-theory","display_name":"Stability theory","score":0.46207359433174133},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.4599525034427643},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.4575689136981964},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.41860848665237427},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32084977626800537},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.31750231981277466},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22334331274032593},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20357483625411987},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1402517557144165},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08742791414260864}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8366019129753113},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.7690192461013794},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7425349354743958},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6525483131408691},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5716075897216797},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5268660187721252},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5216189622879028},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5089306831359863},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4809814691543579},{"id":"https://openalex.org/C41949839","wikidata":"https://www.wikidata.org/wiki/Q1756677","display_name":"Stability theory","level":3,"score":0.46207359433174133},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.4599525034427643},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.4575689136981964},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.41860848665237427},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32084977626800537},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.31750231981277466},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22334331274032593},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20357483625411987},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1402517557144165},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08742791414260864},{"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace 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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tac.2023.3349098","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2023.3349098","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},{"id":"pmh:oai:pure.tue.nl:openaire/3d74c3e1-5d10-44b3-9f16-d7ceefa8701b","is_oa":true,"landing_page_url":"https://research.tue.nl/en/publications/3d74c3e1-5d10-44b3-9f16-d7ceefa8701b","pdf_url":"https://pure.tue.nl/ws/files/336894291/Model_Predictive_Control_for_Quadcopters_With_Almost_Global_Trajectory_Tracking_Guarantees.pdf","source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Andri\u00ebn, A R P, Lefeber, E, Antunes, D & Heemels, W P M H 2024, 'Model Predictive Control for Quadcopters with Almost Global Trajectory Tracking Guarantees', IEEE Transactions on Automatic Control, vol. 69, no. 8, 10379073, pp. 5216-5230. https://doi.org/10.1109/TAC.2023.3349098","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.tue.nl:openaire_cris_publications/3d74c3e1-5d10-44b3-9f16-d7ceefa8701b","is_oa":true,"landing_page_url":"https://research.tue.nl/files/336894291/Model_Predictive_Control_for_Quadcopters_With_Almost_Global_Trajectory_Tracking_Guarantees.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Andri\u00ebn, A R P, Lefeber, E, Antunes, D & Heemels, W P M H 2024, 'Model Predictive Control for Quadcopters with Almost Global Trajectory Tracking Guarantees', IEEE Transactions on Automatic Control, vol. 69, no. 8, 10379073, pp. 5216-5230. https://doi.org/10.1109/TAC.2023.3349098","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:pure.tue.nl:openaire/3d74c3e1-5d10-44b3-9f16-d7ceefa8701b","is_oa":true,"landing_page_url":"https://research.tue.nl/en/publications/3d74c3e1-5d10-44b3-9f16-d7ceefa8701b","pdf_url":"https://pure.tue.nl/ws/files/336894291/Model_Predictive_Control_for_Quadcopters_With_Almost_Global_Trajectory_Tracking_Guarantees.pdf","source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Andri\u00ebn, A R P, Lefeber, E, Antunes, D & Heemels, W P M H 2024, 'Model Predictive Control for Quadcopters with Almost Global Trajectory Tracking Guarantees', IEEE Transactions on Automatic Control, vol. 69, no. 8, 10379073, pp. 5216-5230. https://doi.org/10.1109/TAC.2023.3349098","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4745315573","display_name":null,"funder_award_id":"OPZuid 2014-2020","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"}],"funders":[{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4390480685.pdf","grobid_xml":"https://content.openalex.org/works/W4390480685.grobid-xml"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W1541340078","https://openalex.org/W1582685487","https://openalex.org/W1704276703","https://openalex.org/W1919002818","https://openalex.org/W1968566045","https://openalex.org/W1973734421","https://openalex.org/W1978956894","https://openalex.org/W2032258902","https://openalex.org/W2046287268","https://openalex.org/W2048755144","https://openalex.org/W2049867234","https://openalex.org/W2115106602","https://openalex.org/W2143897835","https://openalex.org/W2149520664","https://openalex.org/W2153807823","https://openalex.org/W2162672892","https://openalex.org/W2172319075","https://openalex.org/W2545805744","https://openalex.org/W2733312032","https://openalex.org/W2752460661","https://openalex.org/W2765732465","https://openalex.org/W2769498435","https://openalex.org/W2773636755","https://openalex.org/W2783416456","https://openalex.org/W2793864963","https://openalex.org/W2801247784","https://openalex.org/W2895824696","https://openalex.org/W2903902823","https://openalex.org/W2909122662","https://openalex.org/W2954488614","https://openalex.org/W2967789842","https://openalex.org/W3045605640","https://openalex.org/W3046037353","https://openalex.org/W3134085503","https://openalex.org/W3144437951","https://openalex.org/W3197225143","https://openalex.org/W4285117968","https://openalex.org/W4285163488","https://openalex.org/W4294691728","https://openalex.org/W6724387082"],"related_works":["https://openalex.org/W2478856989","https://openalex.org/W4312713555","https://openalex.org/W2787734515","https://openalex.org/W2998263720","https://openalex.org/W4297491188","https://openalex.org/W3084584616","https://openalex.org/W1998511116","https://openalex.org/W2385194773","https://openalex.org/W1966842581","https://openalex.org/W2736496609"],"abstract_inverted_index":{"This":[0],"paper":[1],"provides":[2],"a":[3,12,40,85],"new":[4],"method":[5,94],"for":[6,9,39,49],"trajectory":[7,76],"tracking":[8,19,50,77],"quadcopters":[10],"following":[11],"cascaded":[13],"control":[14],"approach":[15],"with":[16],"formal":[17],"closed-loop":[18],"guarantees.":[20],"An":[21],"outer-loop":[22],"model":[23,45],"predictive":[24,46],"controller":[25,47],"generates":[26],"twice":[27],"differentiable":[28],"acceleration":[29,37],"references,":[30],"which":[31],"provide":[32],"attitude,":[33],"angular":[34],"velocity":[35],"and":[36,64],"references":[38,52],"nonlinear":[41],"inner-loop":[42],"controller.":[43],"The":[44],"allows":[48],"of":[51,59,91],"while":[53],"explicitly":[54],"considering":[55],"that":[56,70],"the":[57,60,71,75,89,92],"thrust":[58],"quadcopter":[61],"is":[62,68],"upper":[63],"lower":[65],"limited.":[66],"It":[67],"proven":[69],"overall":[72],"strategy":[73],"renders":[74],"errors":[78],"uniformly":[79],"almost":[80],"globally":[81],"asymptotically":[82],"stable.":[83],"Via":[84],"numerical":[86],"case":[87],"study":[88],"advantages":[90],"novel":[93],"are":[95],"highlighted.":[96]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}