{"id":"https://openalex.org/W4415971224","doi":"https://doi.org/10.1109/taes.2025.3629582","title":"Globally Asymptotically Stable Trajectory Tracking of Underactuated UAVs Using Geometric Algebra","display_name":"Globally Asymptotically Stable Trajectory Tracking of Underactuated UAVs Using Geometric Algebra","publication_year":2025,"publication_date":"2025-11-06","ids":{"openalex":"https://openalex.org/W4415971224","doi":"https://doi.org/10.1109/taes.2025.3629582"},"language":null,"primary_location":{"id":"doi:10.1109/taes.2025.3629582","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2025.3629582","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2509.03484","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5000442849","display_name":"Ign\u00e1cio Rubio Scola","orcid":"https://orcid.org/0000-0001-9477-5242"},"institutions":[{"id":"https://openalex.org/I151201029","display_name":"Consejo Nacional de Investigaciones Cient\u00edficas y T\u00e9cnicas","ror":"https://ror.org/03cqe8w59","country_code":"AR","type":"government","lineage":["https://openalex.org/I151201029","https://openalex.org/I4210123736","https://openalex.org/I4387155568"]}],"countries":["AR"],"is_corresponding":false,"raw_author_name":"Ignacio Rubio Scola","raw_affiliation_strings":["Department of Industrial Products Engineering INTI, CONICET and UNR, Rosario, Argentina","Department of Industrial Products Engineering INTI, CONICET and UNR, osario, Argentina"],"raw_orcid":"https://orcid.org/0000-0001-9477-5242","affiliations":[{"raw_affiliation_string":"Department of Industrial Products Engineering INTI, CONICET and UNR, Rosario, Argentina","institution_ids":["https://openalex.org/I151201029"]},{"raw_affiliation_string":"Department of Industrial Products Engineering INTI, CONICET and UNR, osario, Argentina","institution_ids":["https://openalex.org/I151201029"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120284322","display_name":"Omar Alejandro Garcia Alcantara","orcid":"https://orcid.org/0009-0008-9772-3251"},"institutions":[{"id":"https://openalex.org/I10052268","display_name":"New Mexico State University","ror":"https://ror.org/00hpz7z43","country_code":"US","type":"education","lineage":["https://openalex.org/I10052268"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Omar Alejandro Garcia Alcantara","raw_affiliation_strings":["Klipsch School of Electrical and Computer Engineering, New Mexico State University (NMSU), Las Cruces, NM, USA","Klipsch School of Electrical and Computer Engineering, New Mexico State University (NMSU), Las Cruces NM, USA"],"raw_orcid":"https://orcid.org/0009-0008-9772-3251","affiliations":[{"raw_affiliation_string":"Klipsch School of Electrical and Computer Engineering, New Mexico State University (NMSU), Las Cruces, NM, USA","institution_ids":["https://openalex.org/I10052268"]},{"raw_affiliation_string":"Klipsch School of Electrical and Computer Engineering, New Mexico State University (NMSU), Las Cruces NM, USA","institution_ids":["https://openalex.org/I10052268"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066774434","display_name":"Steven Sandoval","orcid":"https://orcid.org/0000-0001-5320-9922"},"institutions":[{"id":"https://openalex.org/I10052268","display_name":"New Mexico State University","ror":"https://ror.org/00hpz7z43","country_code":"US","type":"education","lineage":["https://openalex.org/I10052268"]},{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"government","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4405258672"]}],"countries":["MX","US"],"is_corresponding":false,"raw_author_name":"Steven Sandoval","raw_affiliation_strings":["Center for Research and Advanced Studies on the National Polytechnic Institute, Mexico City, Mexico","Klipsch School of Electrical and Computer Engineering, New Mexico State University (NMSU), Las Cruces NM, USA"],"raw_orcid":"https://orcid.org/0000-0001-5320-9922","affiliations":[{"raw_affiliation_string":"Center for Research and Advanced Studies on the National Polytechnic Institute, Mexico City, Mexico","institution_ids":["https://openalex.org/I4210090124"]},{"raw_affiliation_string":"Klipsch School of Electrical and Computer Engineering, New Mexico State University (NMSU), Las Cruces NM, USA","institution_ids":["https://openalex.org/I10052268"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002480592","display_name":"Eduardo S. Espinoza","orcid":"https://orcid.org/0000-0003-2114-5922"},"institutions":[{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"government","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4405258672"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Eduardo Steed Espinoza Quesada","raw_affiliation_strings":["Center for Research and Advanced Studies on the National Polytechnic Institute, Mexico City, Mexico","Secihti and with the Center for Research and Advanced Studies on the National Polytechnic Institute, Mexico City, Mexico"],"raw_orcid":"https://orcid.org/0000-0003-2114-5922","affiliations":[{"raw_affiliation_string":"Center for Research and Advanced Studies on the National Polytechnic Institute, Mexico City, Mexico","institution_ids":["https://openalex.org/I4210090124"]},{"raw_affiliation_string":"Secihti and with the Center for Research and Advanced Studies on the National Polytechnic Institute, Mexico City, Mexico","institution_ids":["https://openalex.org/I4210090124"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083529314","display_name":"Hernan Haimovich","orcid":"https://orcid.org/0000-0002-5926-1681"},"institutions":[{"id":"https://openalex.org/I4210109384","display_name":"Centro Internacional Franco-Argentino de Ciencias de la Informaci\u00f3n y de Sistemas","ror":"https://ror.org/02m19wv39","country_code":"AR","type":"facility","lineage":["https://openalex.org/I151201029","https://openalex.org/I21491767","https://openalex.org/I4141589","https://openalex.org/I4210107757","https://openalex.org/I4210109384","https://openalex.org/I4210123736","https://openalex.org/I4387155568"]}],"countries":["AR"],"is_corresponding":false,"raw_author_name":"Hernan Haimovich","raw_affiliation_strings":["Centro Internacional Franco-Argentino de Ciencias de la Información y Sistemas (CIFASIS), UNR and CONICET, Rosario, Argentina"],"raw_orcid":"https://orcid.org/0000-0002-5926-1681","affiliations":[{"raw_affiliation_string":"Centro Internacional Franco-Argentino de Ciencias de la Información y Sistemas (CIFASIS), UNR and CONICET, Rosario, Argentina","institution_ids":["https://openalex.org/I4210109384"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019550547","display_name":"Luis Rodolfo Garc\u00eda Carrillo","orcid":"https://orcid.org/0000-0003-0713-512X"},"institutions":[{"id":"https://openalex.org/I10052268","display_name":"New Mexico State University","ror":"https://ror.org/00hpz7z43","country_code":"US","type":"education","lineage":["https://openalex.org/I10052268"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luis Rodolfo Garcia Carrillo","raw_affiliation_strings":["Klipsch School of Electrical and Computer Engineering, New Mexico State University (NMSU), Las Cruces, NM, USA","Klipsch School of Electrical and Computer Engineering, New Mexico State University (NMSU), Las Cruces NM, USA"],"raw_orcid":"https://orcid.org/0000-0003-0713-512X","affiliations":[{"raw_affiliation_string":"Klipsch School of Electrical and Computer Engineering, New Mexico State University (NMSU), Las Cruces, NM, USA","institution_ids":["https://openalex.org/I10052268"]},{"raw_affiliation_string":"Klipsch School of Electrical and Computer Engineering, New Mexico State University (NMSU), Las Cruces NM, USA","institution_ids":["https://openalex.org/I10052268"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.39630626,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"62","issue":null,"first_page":"1491","last_page":"1508"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12037","display_name":"Algebraic and Geometric Analysis","score":0.5389999747276306,"subfield":{"id":"https://openalex.org/subfields/2604","display_name":"Applied Mathematics"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12037","display_name":"Algebraic and Geometric Analysis","score":0.5389999747276306,"subfield":{"id":"https://openalex.org/subfields/2604","display_name":"Applied Mathematics"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11435","display_name":"Polynomial and algebraic computation","score":0.16949999332427979,"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"}},{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.15940000116825104,"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/trajectory","display_name":"Trajectory","score":0.8015999794006348},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7896999716758728},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6299999952316284},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5910000205039978},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5794000029563904},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.515500009059906},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.5117999911308289},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.47679999470710754},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.4106000065803528}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8015999794006348},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7896999716758728},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6299999952316284},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5910000205039978},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5794000029563904},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.515500009059906},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.5117999911308289},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.47679999470710754},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4652999937534332},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.4106000065803528},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.3544999957084656},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31790000200271606},{"id":"https://openalex.org/C176321772","wikidata":"https://www.wikidata.org/wiki/Q1430640","display_name":"Numerical stability","level":3,"score":0.31709998846054077},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.3075000047683716},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3018999993801117},{"id":"https://openalex.org/C180671464","wikidata":"https://www.wikidata.org/wiki/Q1186649","display_name":"Geometric algebra","level":4,"score":0.29339998960494995},{"id":"https://openalex.org/C41949839","wikidata":"https://www.wikidata.org/wiki/Q1756677","display_name":"Stability theory","level":3,"score":0.2838999927043915},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.2831999957561493},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.2818000018596649},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2791999876499176},{"id":"https://openalex.org/C104065381","wikidata":"https://www.wikidata.org/wiki/Q1002535","display_name":"Geometric modeling","level":2,"score":0.27140000462532043},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2587999999523163},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.25209999084472656},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2506999969482422}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/taes.2025.3629582","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2025.3629582","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"},{"id":"pmh:oai:arXiv.org:2509.03484","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2509.03484","pdf_url":"https://arxiv.org/pdf/2509.03484","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2509.03484","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2509.03484","pdf_url":"https://arxiv.org/pdf/2509.03484","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4887696126","display_name":"HSI Implementation and Evaluation Project: Latinidad STEM Program","funder_award_id":"2318288","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7788020171","display_name":null,"funder_award_id":"PICT 2021-I-A-0730","funder_id":"https://openalex.org/F4320331467","funder_display_name":"Agencia Nacional de Promoci\u00f3n de la Investigaci\u00f3n, el Desarrollo Tecnol\u00f3gico y la Innovaci\u00f3n"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320331467","display_name":"Agencia Nacional de Promoci\u00f3n de la Investigaci\u00f3n, el Desarrollo Tecnol\u00f3gico y la Innovaci\u00f3n","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"employs":[2],"Geometric":[3],"Algebra":[4],"(GA)":[5],"tools":[6],"to":[7,22,87,99],"model":[8,36,100],"the":[9,35,57,66,89,93,115,118,144],"dynamics":[10],"of":[11,20,68,92,117,132],"objects":[12],"in":[13,29,139],"3-dimensional":[14],"space,":[15],"serving":[16],"as":[17,39],"a":[18,40,44,48,61,105,133,140],"proof":[19],"concept":[21],"facilitate":[23],"control":[24,33,69,72],"design":[25],"for":[26],"trajectory":[27,137],"tracking":[28,138],"underactuated":[30],"systems.":[31],"For":[32],"purposes,":[34],"is":[37,54,85,123],"structured":[38],"cascade":[41],"system,":[42],"where":[43],"rotational":[45,52],"subsystem":[46,53,59],"drives":[47],"translational":[49,58],"one.":[50],"The":[51],"linear,":[55],"while":[56],"follows":[60],"linear-plus-perturbation":[62],"form,":[63],"thereby":[64],"reducing":[65],"complexity":[67],"design.":[70],"A":[71],"strategy":[73],"requiring":[74],"only":[75],"simple":[76],"operations,":[77],"no":[78,81],"memory,":[79],"and":[80,103,107,147],"iterative":[82],"search":[83],"loops":[84],"presented":[86],"illustrate":[88],"main":[90],"features":[91],"GA":[94,98],"model.":[95],"By":[96],"employing":[97],"both":[101],"translations":[102],"rotations,":[104],"singularity-free":[106],"geometrically":[108],"intuitive":[109],"representation":[110],"can":[111],"be":[112],"achieved":[113],"through":[114],"use":[116],"geometric":[119],"product.":[120],"Closed-loop":[121],"stability":[122,128,146],"rigorously":[124],"established":[125],"using":[126],"input-to-state":[127],"methods.":[129],"Numerical":[130],"simulations":[131],"quad":[134],"tilt-rotorcraft":[135],"performing":[136],"windy":[141],"environment":[142],"validate":[143],"controller's":[145],"performance.":[148]},"counts_by_year":[],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-11-06T00:00:00"}