{"id":"https://openalex.org/W2969197212","doi":"https://doi.org/10.1109/tase.2019.2935792","title":"Robust Translational Force Control of Multi-Rotor UAV for Precise Acceleration Tracking","display_name":"Robust Translational Force Control of Multi-Rotor UAV for Precise Acceleration Tracking","publication_year":2019,"publication_date":"2019-09-04","ids":{"openalex":"https://openalex.org/W2969197212","doi":"https://doi.org/10.1109/tase.2019.2935792","mag":"2969197212"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2019.2935792","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2019.2935792","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1908.05007","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100434402","display_name":"Seung\u2010Jae Lee","orcid":"https://orcid.org/0000-0003-1674-3733"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seung Jae Lee","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, School of Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-1674-3733","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, School of Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100454636","display_name":"Seung\u2010Hyun Kim","orcid":"https://orcid.org/0000-0003-1202-6606"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seung Hyun Kim","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, School of Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, School of Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":null,"display_name":"Hyoun Jin Kim","orcid":"https://orcid.org/0000-0003-0833-8631"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyoun Jin Kim","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, School of Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-0833-8631","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, School of Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":2.1578,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.86359112,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"17","issue":"2","first_page":"562","last_page":"573"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9922999739646912,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9902999997138977,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.8380720615386963},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.7409377098083496},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7161042094230652},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.6659812331199646},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6114243268966675},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.44496867060661316},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4048401415348053},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38732659816741943},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.38448572158813477},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.369829922914505},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2006416618824005},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1619163155555725},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10935801267623901}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8380720615386963},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.7409377098083496},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7161042094230652},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.6659812331199646},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6114243268966675},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.44496867060661316},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4048401415348053},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38732659816741943},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.38448572158813477},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.369829922914505},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2006416618824005},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1619163155555725},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10935801267623901},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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":2,"locations":[{"id":"doi:10.1109/tase.2019.2935792","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2019.2935792","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1908.05007","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1908.05007","pdf_url":"https://arxiv.org/pdf/1908.05007","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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:1908.05007","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1908.05007","pdf_url":"https://arxiv.org/pdf/1908.05007","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":[{"display_name":"Affordable and clean energy","score":0.8100000023841858,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W845100220","https://openalex.org/W1182109753","https://openalex.org/W1521645935","https://openalex.org/W1533105468","https://openalex.org/W1588998206","https://openalex.org/W1986045690","https://openalex.org/W1993449702","https://openalex.org/W2009991532","https://openalex.org/W2034415692","https://openalex.org/W2052846341","https://openalex.org/W2096323098","https://openalex.org/W2109090100","https://openalex.org/W2111519493","https://openalex.org/W2122216229","https://openalex.org/W2131588967","https://openalex.org/W2141694011","https://openalex.org/W2149459291","https://openalex.org/W2185643016","https://openalex.org/W2269945499","https://openalex.org/W2346705519","https://openalex.org/W2529773697","https://openalex.org/W2566343246","https://openalex.org/W2569853693","https://openalex.org/W2757657624","https://openalex.org/W2773360978","https://openalex.org/W2804760335","https://openalex.org/W2884854144","https://openalex.org/W4242059591","https://openalex.org/W4243620103","https://openalex.org/W6623488726"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W3033677963"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"we":[3,130],"introduce":[4],"a":[5,23],"translational":[6,81,121],"force":[7,14,82,122,138],"control":[8,21,31,83],"method":[9,94],"with":[10,119,133],"disturbance":[11,15],"observer":[12],"(DOB)-based":[13],"cancellation":[16],"for":[17],"precise":[18],"3-D":[19],"acceleration":[20,30,40,76,98,144,188],"of":[22,32,37,67,99,108,154,163,189],"multi-rotor":[24,34,101,110],"unmanned":[25],"aerial":[26],"vehicle":[27],"(UAV).":[28],"The":[29],"the":[33,38,43,52,56,97,100,106,109,112,117,120,126,136,142,151,155,160,176,181,186,190],"requires":[35],"conversion":[36,64,128],"desired":[39,44,187],"signal":[41,63],"to":[42,135,149,174,184],"roll,":[45],"pitch,":[46],"and":[47,55,170],"total":[48],"thrust.":[49],"However,":[50],"because":[51],"attitude":[53],"dynamics":[54,58,107],"thrust":[57],"are":[59,86,172],"different,":[60],"simple":[61,90],"kinematic":[62,113],"without":[65],"consideration":[66],"those":[68],"difference":[69],"can":[70],"cause":[71],"serious":[72],"performance":[73,183],"degradation":[74],"in":[75],"tracking.":[77],"Unlike":[78],"most":[79],"existing":[80],"techniques":[84],"that":[85,124,140],"based":[87],"on":[88],"such":[89],"inversion,":[91],"our":[92],"new":[93],"allows":[95],"controlling":[96],"more":[102],"precisely":[103],"by":[104],"considering":[105,159],"during":[111],"inversion.":[114],"By":[115],"combining":[116],"DOB":[118],"system":[123],"includes":[125],"improved":[127],"technique,":[129,178],"achieve":[131],"robustness":[132],"respect":[134],"external":[137],"disturbances":[139],"hinder":[141],"accurate":[143],"control.":[145],"\u03bc-analysis":[146],"is":[147],"performed":[148],"ensure":[150],"robust":[152],"stability":[153],"overall":[156],"closed-loop":[157],"system,":[158],"combined":[161],"effect":[162],"various":[164],"possible":[165],"model":[166],"uncertainties.":[167],"Both":[168],"simulation":[169],"experiment":[171],"conducted":[173],"validate":[175],"proposed":[177],"which":[179],"confirms":[180],"satisfactory":[182],"track":[185],"multi-rotor.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
