{"id":"https://openalex.org/W2958090795","doi":"https://doi.org/10.1109/tcst.2019.2918750","title":"Control Design for UAV Quadrotors via Embedded Model Control","display_name":"Control Design for UAV Quadrotors via Embedded Model Control","publication_year":2019,"publication_date":"2019-07-10","ids":{"openalex":"https://openalex.org/W2958090795","doi":"https://doi.org/10.1109/tcst.2019.2918750","mag":"2958090795"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2019.2918750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2019.2918750","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/A5073042287","display_name":"Mauricio Alejandro Lotufo","orcid":null},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Mauricio Alejandro Lotufo","raw_affiliation_strings":["Control and Computer Engineering Department, Politecnico di Torino, Turin, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control and Computer Engineering Department, Politecnico di Torino, Turin, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086369268","display_name":"Luigi Colangelo","orcid":"https://orcid.org/0000-0002-5726-6358"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luigi Colangelo","raw_affiliation_strings":["Department of Electronics and Telecommunications Engineering, Politecnico di Torino, Turin, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5726-6358","affiliations":[{"raw_affiliation_string":"Department of Electronics and Telecommunications Engineering, Politecnico di Torino, Turin, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085761223","display_name":"Carlo Novara","orcid":"https://orcid.org/0000-0002-5162-8872"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Carlo Novara","raw_affiliation_strings":["Department of Electronics and Telecommunications Engineering, Politecnico di Torino, Turin, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5162-8872","affiliations":[{"raw_affiliation_string":"Department of Electronics and Telecommunications Engineering, Politecnico di Torino, Turin, Italy","institution_ids":["https://openalex.org/I177477856"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5073042287"],"corresponding_institution_ids":["https://openalex.org/I177477856"],"apc_list":null,"apc_paid":null,"fwci":3.2009,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.92133663,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"28","issue":"5","first_page":"1741","last_page":"1756"},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.6960595846176147},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.6532288789749146},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6080859899520874},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.49602803587913513},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.49088913202285767},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4875461459159851},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4770445227622986},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.4560295641422272},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.44896697998046875},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43264102935791016},{"id":"https://openalex.org/keywords/avionics","display_name":"Avionics","score":0.4291714131832123},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4108869433403015},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2807197868824005},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11991527676582336},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.09489044547080994}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6960595846176147},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6532288789749146},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6080859899520874},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.49602803587913513},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.49088913202285767},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4875461459159851},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4770445227622986},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.4560295641422272},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.44896697998046875},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43264102935791016},{"id":"https://openalex.org/C15792166","wikidata":"https://www.wikidata.org/wiki/Q221329","display_name":"Avionics","level":2,"score":0.4291714131832123},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4108869433403015},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2807197868824005},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11991527676582336},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.09489044547080994},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2019.2918750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2019.2918750","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":[{"score":0.550000011920929,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W85417035","https://openalex.org/W1487127700","https://openalex.org/W1523906704","https://openalex.org/W1956651624","https://openalex.org/W2006490107","https://openalex.org/W2015030512","https://openalex.org/W2020825893","https://openalex.org/W2025004307","https://openalex.org/W2051816407","https://openalex.org/W2053382440","https://openalex.org/W2053406538","https://openalex.org/W2079249362","https://openalex.org/W2080495700","https://openalex.org/W2091382785","https://openalex.org/W2103641605","https://openalex.org/W2112948850","https://openalex.org/W2122093596","https://openalex.org/W2124838681","https://openalex.org/W2125691646","https://openalex.org/W2134069001","https://openalex.org/W2134790752","https://openalex.org/W2140246545","https://openalex.org/W2149087996","https://openalex.org/W2153807823","https://openalex.org/W2160146756","https://openalex.org/W2161872204","https://openalex.org/W2167229184","https://openalex.org/W2171541961","https://openalex.org/W2343039740","https://openalex.org/W2508861310","https://openalex.org/W2510977677","https://openalex.org/W2524340478","https://openalex.org/W2529267069","https://openalex.org/W2532384824","https://openalex.org/W2546583797","https://openalex.org/W2596192431","https://openalex.org/W2949491497","https://openalex.org/W6631513980","https://openalex.org/W6763714559"],"related_works":["https://openalex.org/W1589297475","https://openalex.org/W2330706584","https://openalex.org/W2903497870","https://openalex.org/W2170383588","https://openalex.org/W1987259072","https://openalex.org/W347335328","https://openalex.org/W2351307308","https://openalex.org/W2791453457","https://openalex.org/W2142040801","https://openalex.org/W2017614802"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,19,26,64,87,103,134,162,188],"control":[4,37,52,74,120],"system":[5,98],"for":[6,35,67],"unmanned":[7],"aerial":[8],"vehicles":[9],"(UAVs)":[10],"is":[11,33,70,83,115,154,172,195],"designed,":[12],"tested":[13],"in":[14],"simulation":[15],"by":[16,117],"means":[17],"of":[18,43,81,106],"high-fidelity":[20],"simulator,":[21],"and":[22,49,136,146,157,174,202],"then":[23,71],"applied":[24],"to":[25,57,73,122,143,183],"real":[27],"quadrotor":[28],"UAV.":[29],"A":[30,78],"novel":[31],"approach":[32,140],"proposed":[34,173],"the":[36,41,60,75,97,108,111,118,124,131,151,185],"design,":[38],"based":[39,197],"on":[40,198],"combination":[42],"two":[44],"methodologies:":[45],"feedback":[46],"linearization":[47],"(FL)":[48],"embedded":[50],"model":[51],"(EMC).":[53],"FL":[54,145],"allows":[55,141],"us":[56,142],"properly":[58],"transform":[59],"UAV":[61,164],"dynamics":[62],"into":[63],"form":[65],"suitable":[66],"EMC;":[68],"EMC":[69,82,147],"used":[72,116],"transformed":[76],"system.":[77,112],"key":[79],"feature":[80],"that":[84],"it":[85],"encompasses":[86],"so-called":[88],"extended":[89],"state":[90,99],"observer":[91],"(ESO),":[92],"which":[93],"not":[94],"only":[95],"recovers":[96],"but":[100],"also":[101,175],"gives":[102],"real-time":[104],"estimate":[105,114],"all":[107],"disturbances/uncertainties":[109],"affecting":[110],"This":[113,139],"FL-EMC":[119],"law":[121],"reject":[123],"aforementioned":[125],"disturbances/uncertainties,":[126],"including":[127],"those":[128],"collected":[129],"via":[130],"FL,":[132],"allowing":[133],"robustness":[135],"performance":[137,203],"enhancement.":[138],"combine":[144],"strengths.":[148],"Most":[149],"notably,":[150],"entire":[152],"process":[153],"made":[155],"systematic":[156],"application":[158],"oriented.":[159],"To":[160],"set-up":[161],"reliable":[163],"attitude":[165,169],"observer,":[166],"an":[167,178],"effective":[168],"sensors":[170],"fusion":[171],"benchmarked":[176],"with":[177],"enhanced":[179],"complementary":[180],"filter.":[181],"Finally,":[182],"enhance":[184],"closed-loop":[186],"performance,":[187],"complete":[189],"tuning":[190],"procedure,":[191],"encompassing":[192],"frequency":[193],"requirements,":[194],"outlined,":[196],"suitably":[199],"defined":[200],"stability":[201],"metrics.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-25T08:17:42.794288","created_date":"2025-10-10T00:00:00"}
