{"id":"https://openalex.org/W2108636252","doi":"https://doi.org/10.1109/tcst.2008.2004878","title":"Linear Tracking for a Fixed-Wing UAV Using Nonlinear Model Predictive Control","display_name":"Linear Tracking for a Fixed-Wing UAV Using Nonlinear Model Predictive Control","publication_year":2009,"publication_date":"2009-04-18","ids":{"openalex":"https://openalex.org/W2108636252","doi":"https://doi.org/10.1109/tcst.2008.2004878","mag":"2108636252"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2008.2004878","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2008.2004878","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","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/A5058423505","display_name":"Yeonsik Kang","orcid":"https://orcid.org/0000-0003-4667-3748"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yeonsik Kang","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA","Dept. of Mech. Eng., Univ. of California, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Univ. of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083232991","display_name":"J. Karl Hedrick","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J.K. Hedrick","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA","Dept. of Mech. Eng., Univ. of California, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Univ. of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5058423505"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":21.5572,"has_fulltext":false,"cited_by_count":213,"citation_normalized_percentile":{"value":0.99395657,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"17","issue":"5","first_page":"1202","last_page":"1210"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":1.0,"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/T10791","display_name":"Advanced Control Systems Optimization","score":1.0,"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":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/control-theory","display_name":"Control theory (sociology)","score":0.8494062423706055},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7432910203933716},{"id":"https://openalex.org/keywords/overshoot","display_name":"Overshoot (microwave communication)","score":0.6456343531608582},{"id":"https://openalex.org/keywords/autopilot","display_name":"Autopilot","score":0.578310489654541},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5397542119026184},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5282463431358337},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4623796343803406},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.45692870020866394},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4258507490158081},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4169299602508545},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.4120347201824188},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.41062772274017334},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17227667570114136}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8494062423706055},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7432910203933716},{"id":"https://openalex.org/C2780323453","wikidata":"https://www.wikidata.org/wiki/Q7113957","display_name":"Overshoot (microwave communication)","level":2,"score":0.6456343531608582},{"id":"https://openalex.org/C18020424","wikidata":"https://www.wikidata.org/wiki/Q220858","display_name":"Autopilot","level":2,"score":0.578310489654541},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5397542119026184},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5282463431358337},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4623796343803406},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.45692870020866394},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4258507490158081},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4169299602508545},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.4120347201824188},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41062772274017334},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17227667570114136},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2008.2004878","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2008.2004878","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.7799999713897705}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W52219548","https://openalex.org/W1671813167","https://openalex.org/W1967073510","https://openalex.org/W1978956894","https://openalex.org/W2005151817","https://openalex.org/W2074999758","https://openalex.org/W2123216430","https://openalex.org/W2123325526","https://openalex.org/W2128495294","https://openalex.org/W2130635245","https://openalex.org/W2131339983","https://openalex.org/W2142493442","https://openalex.org/W2150930292","https://openalex.org/W2166034910","https://openalex.org/W2313274380","https://openalex.org/W2325279639","https://openalex.org/W3210839039","https://openalex.org/W4249823714"],"related_works":["https://openalex.org/W2580658387","https://openalex.org/W2384880144","https://openalex.org/W2357061688","https://openalex.org/W1779399219","https://openalex.org/W648378158","https://openalex.org/W2143511391","https://openalex.org/W1981727740","https://openalex.org/W4251946813","https://openalex.org/W2885820669","https://openalex.org/W1839440842"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,13,17,35,54,67,73,128],"nonlinear":[4],"model":[5,26,36],"predictive":[6],"control":[7,45,104],"(NMPC)":[8],"is":[9,32,50,70,106],"used":[10,33],"to":[11,52,87,108],"design":[12],"high-level":[14,100],"controller":[15],"for":[16],"fixed-wing":[18],"unmanned":[19],"aerial":[20],"vehicle":[21],"(UAV).":[22],"Given":[23],"the":[24,28,38,44,48,58,63,77,80,89,94,98,103,119,123,134,143],"kinematic":[25],"of":[27,37,47,65,75,97,133],"UAV":[29,39,120],"dynamics,":[30],"which":[31],"as":[34],"with":[40,127],"low-level":[41],"autopilot":[42],"avionics,":[43],"objective":[46,105],"NMPC":[49,124,135],"determined":[51],"track":[53,109],"desired":[55,68,81],"line.":[56,82],"After":[57],"error":[59,78],"dynamics":[60],"are":[61],"derived,":[62],"problem":[64,74],"tracking":[66],"line":[69,112],"transformed":[71],"into":[72],"regulating":[76],"from":[79],"A":[83],"stability":[84,96],"analysis":[85],"follows":[86],"provide":[88],"conditions":[90],"that":[91,118],"can":[92],"assure":[93],"closed-loop":[95],"designed":[99],"NMPC.":[101],"Furthermore,":[102],"extended":[107],"adjoined":[110],"multiple":[111],"segments.":[113],"The":[114,131],"simulation":[115],"results":[116],"demonstrate":[117],"controlled":[121],"by":[122],"converged":[125],"rapidly":[126],"small":[129],"overshoot.":[130],"performance":[132],"was":[136],"also":[137],"verified":[138],"through":[139],"realistic":[140],"\u00bfhardware":[141],"in":[142],"loop":[144],"simulation.\u00bf":[145]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":18},{"year":2020,"cited_by_count":17},{"year":2019,"cited_by_count":15},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":21},{"year":2016,"cited_by_count":12},{"year":2015,"cited_by_count":14},{"year":2014,"cited_by_count":16},{"year":2013,"cited_by_count":8},{"year":2012,"cited_by_count":11}],"updated_date":"2026-04-23T09:07:50.710637","created_date":"2025-10-10T00:00:00"}