{"id":"https://openalex.org/W2043151145","doi":"https://doi.org/10.1109/tcst.2012.2200104","title":"Adaptive Control of Quadrotor UAVs: A Design Trade Study With Flight Evaluations","display_name":"Adaptive Control of Quadrotor UAVs: A Design Trade Study With Flight Evaluations","publication_year":2012,"publication_date":"2012-06-19","ids":{"openalex":"https://openalex.org/W2043151145","doi":"https://doi.org/10.1109/tcst.2012.2200104","mag":"2043151145"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2012.2200104","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2012.2200104","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/A5061697967","display_name":"Zachary T. Dydek","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zachary T. Dydek","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","Dept. of Mech. Eng., Massachusetts Inst. of Tech., Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Massachusetts Inst. of Tech., Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082528518","display_name":"Anuradha M. Annaswamy","orcid":"https://orcid.org/0000-0002-4354-0459"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anuradha M. Annaswamy","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","Dept. of Mech. Eng., Massachusetts Inst. of Tech., Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Massachusetts Inst. of Tech., Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027293837","display_name":"Eugene Lavretsky","orcid":"https://orcid.org/0000-0001-5471-6571"},"institutions":[{"id":"https://openalex.org/I1295339012","display_name":"Boeing (United States)","ror":"https://ror.org/04sm5zn07","country_code":"US","type":"company","lineage":["https://openalex.org/I1295339012"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eugene Lavretsky","raw_affiliation_strings":["Phantom Works Department, Boeing Company, CA, USA","Phantom Works Dept., Boeing Co., Huntington Beach, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Phantom Works Department, Boeing Company, CA, USA","institution_ids":["https://openalex.org/I1295339012"]},{"raw_affiliation_string":"Phantom Works Dept., Boeing Co., Huntington Beach, CA, USA","institution_ids":["https://openalex.org/I1295339012"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":30.8785,"has_fulltext":false,"cited_by_count":552,"citation_normalized_percentile":{"value":0.99762973,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"21","issue":"4","first_page":"1400","last_page":"1406"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T12158","display_name":"Guidance and Control Systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9943000078201294,"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":0.771381139755249},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.672644853591919},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6317256689071655},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.6074307560920715},{"id":"https://openalex.org/keywords/flight-test","display_name":"Flight test","score":0.5781351327896118},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5764134526252747},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5058267116546631},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4998359680175781},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.46396955847740173},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45251891016960144},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4298965334892273},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.4123142957687378},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.33443766832351685},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.2768411636352539},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17133629322052002},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.11387220025062561},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10469859838485718}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.771381139755249},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.672644853591919},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6317256689071655},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.6074307560920715},{"id":"https://openalex.org/C2777943292","wikidata":"https://www.wikidata.org/wiki/Q3319996","display_name":"Flight test","level":2,"score":0.5781351327896118},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5764134526252747},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5058267116546631},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4998359680175781},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.46396955847740173},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45251891016960144},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4298965334892273},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.4123142957687378},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.33443766832351685},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2768411636352539},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17133629322052002},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.11387220025062561},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10469859838485718},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2012.2200104","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2012.2200104","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1731863","https://openalex.org/W130083205","https://openalex.org/W1504943301","https://openalex.org/W1569376653","https://openalex.org/W1572161815","https://openalex.org/W1968952889","https://openalex.org/W1971711073","https://openalex.org/W1981087084","https://openalex.org/W2014758413","https://openalex.org/W2015009070","https://openalex.org/W2017382559","https://openalex.org/W2059565219","https://openalex.org/W2064293659","https://openalex.org/W2065894019","https://openalex.org/W2067603665","https://openalex.org/W2087269417","https://openalex.org/W2096282629","https://openalex.org/W2103608534","https://openalex.org/W2111216404","https://openalex.org/W2125902469","https://openalex.org/W2129021903","https://openalex.org/W2138158112","https://openalex.org/W2140236702","https://openalex.org/W2141154005","https://openalex.org/W2141666765","https://openalex.org/W2163764169","https://openalex.org/W2294241086","https://openalex.org/W2315522507","https://openalex.org/W2316706901","https://openalex.org/W2329434359","https://openalex.org/W2333318233","https://openalex.org/W3144742656","https://openalex.org/W4230504900","https://openalex.org/W6653220381","https://openalex.org/W6665134358"],"related_works":["https://openalex.org/W1512021029","https://openalex.org/W2108470770","https://openalex.org/W1972862722","https://openalex.org/W2281732014","https://openalex.org/W2063351494","https://openalex.org/W1562326332","https://openalex.org/W2319803529","https://openalex.org/W2152839317","https://openalex.org/W2969358681","https://openalex.org/W1520924231"],"abstract_inverted_index":{"This":[0],"brief":[1],"describes":[2],"the":[3,69,88,102],"application":[4],"of":[5,71,87,97],"direct":[6],"and":[7,39,105],"indirect":[8],"model":[9],"reference":[10],"adaptive":[11,31,48,89,107],"control":[12],"to":[13,52,56,64,79],"a":[14,72,95],"lightweight":[15],"low-cost":[16],"quadrotor":[17],"unmanned":[18],"aerial":[19],"vehicle":[20],"platform.":[21],"A":[22],"baseline":[23],"trajectory":[24],"tracking":[25],"controller":[26,49,90],"is":[27,35,50,62,91],"augmented":[28,106],"by":[29,94],"an":[30,43],"controller.":[32],"The":[33,47,85],"approach":[34],"validated":[36],"using":[37,101],"simulations":[38],"flight":[40,98],"tested":[41],"in":[42,67],"indoor":[44],"test":[45,99],"facility.":[46],"found":[51,63],"offer":[53],"increased":[54],"robustness":[55],"parametric":[57],"uncertainties.":[58],"In":[59],"particular,":[60],"it":[61],"be":[65],"effective":[66],"mitigating":[68],"effects":[70],"loss-of-thrust":[73],"anomaly,":[74],"which":[75],"may":[76],"occur":[77],"due":[78],"component":[80],"failure":[81],"or":[82],"physical":[83],"damage.":[84],"design":[86],"presented,":[92],"followed":[93],"comparison":[96],"results":[100],"existing":[103],"linear":[104],"controllers.":[108]},"counts_by_year":[{"year":2026,"cited_by_count":12},{"year":2025,"cited_by_count":25},{"year":2024,"cited_by_count":50},{"year":2023,"cited_by_count":39},{"year":2022,"cited_by_count":44},{"year":2021,"cited_by_count":60},{"year":2020,"cited_by_count":51},{"year":2019,"cited_by_count":59},{"year":2018,"cited_by_count":55},{"year":2017,"cited_by_count":55},{"year":2016,"cited_by_count":47},{"year":2015,"cited_by_count":31},{"year":2014,"cited_by_count":17},{"year":2013,"cited_by_count":7}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}