{"id":"https://openalex.org/W2990052380","doi":"https://doi.org/10.1109/taes.2019.2955525","title":"Modeling and Control of a Tilting Quadcopter","display_name":"Modeling and Control of a Tilting Quadcopter","publication_year":2019,"publication_date":"2019-11-26","ids":{"openalex":"https://openalex.org/W2990052380","doi":"https://doi.org/10.1109/taes.2019.2955525","mag":"2990052380"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2019.2955525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2019.2955525","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Aerospace and Electronic Systems","raw_type":"journal-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/A5068973829","display_name":"Ruihang Ji","orcid":"https://orcid.org/0000-0002-8726-5719"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ruihang Ji","raw_affiliation_strings":["Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100743737","display_name":"Jie Ma","orcid":"https://orcid.org/0000-0001-8828-2695"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Ma","raw_affiliation_strings":["Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008501506","display_name":"Shuzhi Sam Ge","orcid":"https://orcid.org/0000-0001-5549-312X"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shuzhi Sam Ge","raw_affiliation_strings":["National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5068973829"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":3.1935,"has_fulltext":false,"cited_by_count":52,"citation_normalized_percentile":{"value":0.92279478,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"56","issue":"4","first_page":"2823","last_page":"2834"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9995999932289124,"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":0.9995999932289124,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9958999752998352,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9940999746322632,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/quadcopter","display_name":"Quadcopter","score":0.9772821664810181},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8307360410690308},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.798702597618103},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.7923374772071838},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.588612973690033},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.544414222240448},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5333604216575623},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5171217918395996},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5140529870986938},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4564324915409088},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.43608540296554565},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4140698313713074},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.33035263419151306},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3248646855354309},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2668764591217041},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2541598975658417},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.16701993346214294},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08018791675567627}],"concepts":[{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.9772821664810181},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8307360410690308},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.798702597618103},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.7923374772071838},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.588612973690033},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.544414222240448},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5333604216575623},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5171217918395996},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5140529870986938},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4564324915409088},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.43608540296554565},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4140698313713074},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.33035263419151306},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3248646855354309},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2668764591217041},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2541598975658417},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.16701993346214294},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08018791675567627},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/taes.2019.2955525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2019.2955525","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Aerospace and Electronic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.47999998927116394,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G3234636562","display_name":null,"funder_award_id":"61427809","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W1485270393","https://openalex.org/W1561053133","https://openalex.org/W1582858917","https://openalex.org/W1584143882","https://openalex.org/W1859674185","https://openalex.org/W1969589605","https://openalex.org/W1979517588","https://openalex.org/W1988367613","https://openalex.org/W1988833269","https://openalex.org/W1988837728","https://openalex.org/W1996053571","https://openalex.org/W1998434453","https://openalex.org/W2000201135","https://openalex.org/W2014498072","https://openalex.org/W2025099956","https://openalex.org/W2029700848","https://openalex.org/W2035734362","https://openalex.org/W2051155887","https://openalex.org/W2060045462","https://openalex.org/W2060796260","https://openalex.org/W2072093554","https://openalex.org/W2089171752","https://openalex.org/W2089908769","https://openalex.org/W2098536261","https://openalex.org/W2107547235","https://openalex.org/W2109754483","https://openalex.org/W2110702780","https://openalex.org/W2114081607","https://openalex.org/W2124123250","https://openalex.org/W2129275525","https://openalex.org/W2130936882","https://openalex.org/W2136605942","https://openalex.org/W2137009960","https://openalex.org/W2153463745","https://openalex.org/W2166394531","https://openalex.org/W2205208587","https://openalex.org/W2293761056","https://openalex.org/W2323187433","https://openalex.org/W2404468522","https://openalex.org/W2418601359","https://openalex.org/W2468597192","https://openalex.org/W2478977977","https://openalex.org/W2480647008","https://openalex.org/W2589125884","https://openalex.org/W2749921776","https://openalex.org/W2774450859","https://openalex.org/W2787504052","https://openalex.org/W2790841337","https://openalex.org/W2795838168","https://openalex.org/W2797741465","https://openalex.org/W2802739957","https://openalex.org/W2891102912","https://openalex.org/W2913466073","https://openalex.org/W3016580280","https://openalex.org/W4238332135","https://openalex.org/W4252936079"],"related_works":["https://openalex.org/W2067224748","https://openalex.org/W1505013685","https://openalex.org/W1897769514","https://openalex.org/W2376925532","https://openalex.org/W2136515323","https://openalex.org/W2794899516","https://openalex.org/W2150587932","https://openalex.org/W2384451167","https://openalex.org/W2383624027","https://openalex.org/W2904625613"],"abstract_inverted_index":{"This":[0],"article":[1],"addresses":[2],"modeling":[3],"and":[4,17,34,50,69,98,121],"tracking":[5,72,76],"control":[6,62],"for":[7,106],"a":[8,26,92],"tilting":[9,27],"quadcopter":[10],"in":[11,88],"the":[12,22,32,75,86,107,119,122,125],"presence":[13],"of":[14,25,109,124],"parametric":[15,48],"uncertainties":[16,49],"external":[18,51],"disturbances.":[19],"We":[20],"propose":[21],"novel":[23],"concept":[24],"quadcopter,":[28],"which":[29],"suggests":[30],"that":[31],"rotational":[33],"translational":[35],"movements":[36],"can":[37,78],"be":[38],"controlled":[39],"independently.":[40],"A":[41],"complete":[42],"dynamic":[43],"model":[44],"is":[45,63,102],"developed,":[46],"where":[47],"disturbances":[52],"are":[53,114],"taken":[54],"into":[55,81],"consideration.":[56],"Then,":[57],"an":[58,99],"adaptive":[59,100],"fast":[60,70,79],"finite-time":[61,89,95],"proposed":[64,126],"to":[65,104,117],"provide":[66],"robust,":[67],"chattering-free,":[68],"convergence":[71],"performances.":[73],"All":[74],"errors":[77],"converge":[80],"arbitrary":[82],"small":[83],"neighborhoods":[84],"around":[85],"origin":[87],"proved":[90],"by":[91],"modified":[93],"Lyapunov":[94],"stability":[96],"theory,":[97],"scheme":[101],"synthesized":[103],"compensate":[105],"effect":[108],"uncertainties.":[110],"Finally,":[111],"comparative":[112],"simulations":[113],"carried":[115],"out":[116],"illustrate":[118],"effectiveness":[120],"robustness":[123],"controller.":[127]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":8}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}