{"id":"https://openalex.org/W4417338034","doi":"https://doi.org/10.1109/tce.2025.3643855","title":"Adaptive Fault-Tolerant Control for Quadrotor UAVs via Hybrid MPC-DDPG With Lyapunov-Based Contraction Constraints","display_name":"Adaptive Fault-Tolerant Control for Quadrotor UAVs via Hybrid MPC-DDPG With Lyapunov-Based Contraction Constraints","publication_year":2025,"publication_date":"2025-12-15","ids":{"openalex":"https://openalex.org/W4417338034","doi":"https://doi.org/10.1109/tce.2025.3643855"},"language":null,"primary_location":{"id":"doi:10.1109/tce.2025.3643855","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tce.2025.3643855","pdf_url":null,"source":{"id":"https://openalex.org/S126824455","display_name":"IEEE Transactions on Consumer Electronics","issn_l":"0098-3063","issn":["0098-3063","1558-4127"],"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 Consumer Electronics","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/A5088201754","display_name":"Xuejing Lan","orcid":"https://orcid.org/0000-0003-0938-9879"},"institutions":[{"id":"https://openalex.org/I37987034","display_name":"Guangzhou University","ror":"https://ror.org/05ar8rn06","country_code":"CN","type":"education","lineage":["https://openalex.org/I37987034"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xuejing Lan","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou, China","institution_ids":["https://openalex.org/I37987034"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112472663","display_name":"Ziheng Huang","orcid":"https://orcid.org/0009-0002-8725-7695"},"institutions":[{"id":"https://openalex.org/I37987034","display_name":"Guangzhou University","ror":"https://ror.org/05ar8rn06","country_code":"CN","type":"education","lineage":["https://openalex.org/I37987034"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziheng Huang","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou, China","institution_ids":["https://openalex.org/I37987034"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091809913","display_name":"Tao Wang","orcid":"https://orcid.org/0000-0003-0330-6884"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Wang","raw_affiliation_strings":["School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen, China","School of Intelligent Systems Engineering, Sun Yat-Sen University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Intelligent Systems Engineering, Sun Yat-Sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017841792","display_name":"Tao Zou","orcid":"https://orcid.org/0000-0001-7328-5703"},"institutions":[{"id":"https://openalex.org/I37987034","display_name":"Guangzhou University","ror":"https://ror.org/05ar8rn06","country_code":"CN","type":"education","lineage":["https://openalex.org/I37987034"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Zou","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou, China","institution_ids":["https://openalex.org/I37987034"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058658495","display_name":"Zhijia Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I37987034","display_name":"Guangzhou University","ror":"https://ror.org/05ar8rn06","country_code":"CN","type":"education","lineage":["https://openalex.org/I37987034"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijia Zhao","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou, China","institution_ids":["https://openalex.org/I37987034"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5088201754"],"corresponding_institution_ids":["https://openalex.org/I37987034"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.39402939,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"72","issue":"1","first_page":"1770","last_page":"1781"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.6822999715805054,"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"}},"topics":[{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.6822999715805054,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.05920000001788139,"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":0.04729999974370003,"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/robustness","display_name":"Robustness (evolution)","score":0.7714999914169312},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7692999839782715},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.758899986743927},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6022999882698059},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.5141000151634216},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.47290000319480896},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.4677000045776367},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.41999998688697815},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4180000126361847}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7714999914169312},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7692999839782715},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.758899986743927},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.661300003528595},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6022999882698059},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5486000180244446},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.5141000151634216},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.47290000319480896},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.4677000045776367},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.41999998688697815},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4180000126361847},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.39590001106262207},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3749000132083893},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.37130001187324524},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.3637999892234802},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3522000014781952},{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.3246999979019165},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.3215000033378601},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.311599999666214},{"id":"https://openalex.org/C150189527","wikidata":"https://www.wikidata.org/wiki/Q356674","display_name":"Reference model","level":2,"score":0.27639999985694885},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.2750000059604645},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2734000086784363},{"id":"https://openalex.org/C52970973","wikidata":"https://www.wikidata.org/wiki/Q2497134","display_name":"Adaptive system","level":2,"score":0.26460000872612},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.2621000111103058},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2554999887943268},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2540000081062317},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2538999915122986}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tce.2025.3643855","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tce.2025.3643855","pdf_url":null,"source":{"id":"https://openalex.org/S126824455","display_name":"IEEE Transactions on Consumer Electronics","issn_l":"0098-3063","issn":["0098-3063","1558-4127"],"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 Consumer Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Ensuring":[0],"the":[1,72,87,109,117,146,149],"safe":[2],"and":[3,31,103,113,124,132,160,180,187],"reliable":[4],"operation":[5],"of":[6,89,156],"quadrotor":[7],"unmanned":[8],"aerial":[9],"vehicles":[10],"(UAVs)":[11],"under":[12,39,189],"actuator":[13,34,133,190],"faults":[14],"is":[15,86],"critical":[16],"for":[17],"practical":[18],"applications.":[19],"Conventional":[20],"control":[21,51,126],"methods":[22],"often":[23],"face":[24],"challenges":[25],"to":[26,33,83,99,121],"simultaneously":[27],"accommodate":[28],"system":[29,101],"constraints":[30,98],"adapt":[32],"faults,":[35],"potentially":[36],"degrading":[37],"performance":[38],"uncertainty.":[40],"To":[41],"address":[42],"these":[43],"limitations,":[44],"this":[45,67,84],"paper":[46],"proposes":[47],"an":[48],"adaptive":[49],"fault-tolerant":[50],"framework":[52],"integrating":[53],"Model":[54],"Predictive":[55],"Control":[56],"(MPC)":[57],"with":[58],"Deep":[59],"Deterministic":[60],"Policy":[61],"Gradient":[62],"(DDPG)":[63],"reinforcement":[64],"learning.":[65],"Within":[66],"framework,":[68],"MPC":[69],"serves":[70],"as":[71,145],"baseline":[73],"controller":[74],"by":[75],"generating":[76],"feasible":[77],"inputs":[78],"that":[79,171],"satisfy":[80],"constraints.":[81],"Key":[82],"approach":[85,175],"introduction":[88],"a":[90,141],"Lyapunov-based":[91],"contraction":[92],"constraint,":[93],"which":[94],"replaces":[95],"conventional":[96],"terminal":[97],"guarantee":[100],"stability":[102],"recursive":[104],"feasibility":[105],"while":[106],"significantly":[107],"reducing":[108],"required":[110],"prediction":[111],"horizon":[112],"computational":[114],"burden.":[115],"Concurrently,":[116],"DDPG":[118,150],"agent":[119],"learns":[120],"generate":[122],"compensatory":[123],"auxiliary":[125],"signals,":[127],"thereby":[128],"mitigating":[129],"external":[130],"disturbances":[131],"faults.":[134],"A":[135],"key":[136],"innovation":[137],"lies":[138],"in":[139],"employing":[140],"parameterized":[142],"NMPC":[143],"formulation":[144],"Actor":[147],"within":[148],"framework.":[151],"This":[152],"enables":[153],"online":[154],"adaptation":[155],"cost":[157],"function":[158],"weights":[159],"fault":[161,185,191],"compensation":[162],"parameters":[163],"through":[164],"policy":[165],"optimization.":[166],"The":[167],"simulation":[168],"results":[169],"demonstrate":[170],"our":[172],"hybrid":[173],"MPC-DDPG":[174],"achieves":[176],"accelerated":[177],"trajectory":[178],"recovery":[179],"exhibits":[181],"superior":[182],"tracking":[183],"accuracy,":[184],"tolerance,":[186],"robustness":[188],"scenarios.":[192]},"counts_by_year":[],"updated_date":"2026-03-26T06:05:38.182114","created_date":"2025-12-15T00:00:00"}
