{"id":"https://openalex.org/W4385413680","doi":"https://doi.org/10.1109/tcst.2023.3286044","title":"Comprehensive Nonlinear Control Strategy for VTOL-UAVs With Windowed Output Constraints","display_name":"Comprehensive Nonlinear Control Strategy for VTOL-UAVs With Windowed Output Constraints","publication_year":2023,"publication_date":"2023-07-31","ids":{"openalex":"https://openalex.org/W4385413680","doi":"https://doi.org/10.1109/tcst.2023.3286044"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2023.3286044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3286044","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/A5039041183","display_name":"Linghuan Kong","orcid":"https://orcid.org/0000-0001-9866-4822"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linghuan Kong","raw_affiliation_strings":["School of Intelligence Science and Technology, the Institute of Artificial Intelligence, and the Key Laboratory of Intelligent Bionic Unmanned Systems, Ministry of Education, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9866-4822","affiliations":[{"raw_affiliation_string":"School of Intelligence Science and Technology, the Institute of Artificial Intelligence, and the Key Laboratory of Intelligent Bionic Unmanned Systems, Ministry of Education, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003835102","display_name":"Joel Reis","orcid":"https://orcid.org/0000-0002-9281-6829"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Joel Reis","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, Macau, China"],"raw_orcid":"https://orcid.org/0000-0002-9281-6829","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, Macau, China","institution_ids":["https://openalex.org/I204512498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022113595","display_name":"Wei He","orcid":"https://orcid.org/0000-0002-8944-9861"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei He","raw_affiliation_strings":["School of Intelligence Science and Technology, the Institute of Artificial Intelligence, and the Key Laboratory of Intelligent Bionic Unmanned Systems, Ministry of Education, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8944-9861","affiliations":[{"raw_affiliation_string":"School of Intelligence Science and Technology, the Institute of Artificial Intelligence, and the Key Laboratory of Intelligent Bionic Unmanned Systems, Ministry of Education, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035107160","display_name":"Carlos Silvestre","orcid":"https://orcid.org/0000-0002-5096-5527"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Carlos Silvestre","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, Macau, China"],"raw_orcid":"https://orcid.org/0000-0002-5096-5527","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, Macau, China","institution_ids":["https://openalex.org/I204512498"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.1953,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.97092997,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"31","issue":"6","first_page":"2673","last_page":"2684"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","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/T10040","display_name":"Adaptive Control of Nonlinear Systems","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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9961000084877014,"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":0.995199978351593,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8168765306472778},{"id":"https://openalex.org/keywords/takeoff-and-landing","display_name":"Takeoff and landing","score":0.7458943128585815},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.7398147583007812},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6708589196205139},{"id":"https://openalex.org/keywords/takeoff","display_name":"Takeoff","score":0.5735626816749573},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5717684626579285},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5383092164993286},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5361051559448242},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5152004361152649},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49807000160217285},{"id":"https://openalex.org/keywords/time-derivative","display_name":"Time derivative","score":0.45132696628570557},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4478503167629242},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3123556673526764},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2801361083984375},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22610893845558167},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.16913041472434998},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11971279978752136},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09130585193634033}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8168765306472778},{"id":"https://openalex.org/C2780631144","wikidata":"https://www.wikidata.org/wiki/Q20046585","display_name":"Takeoff and landing","level":2,"score":0.7458943128585815},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.7398147583007812},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6708589196205139},{"id":"https://openalex.org/C2777717826","wikidata":"https://www.wikidata.org/wiki/Q854248","display_name":"Takeoff","level":2,"score":0.5735626816749573},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5717684626579285},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5383092164993286},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5361051559448242},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5152004361152649},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49807000160217285},{"id":"https://openalex.org/C17685861","wikidata":"https://www.wikidata.org/wiki/Q6960532","display_name":"Time derivative","level":2,"score":0.45132696628570557},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4478503167629242},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3123556673526764},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2801361083984375},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22610893845558167},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.16913041472434998},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11971279978752136},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09130585193634033},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2023.3286044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3286044","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":[{"id":"https://openalex.org/G1844495039","display_name":null,"funder_award_id":"FDCT/0031/2020/AFJ","funder_id":"https://openalex.org/F4320323893","funder_display_name":"Fundo para o Desenvolvimento das Ci\u00eancias e da Tecnologia"},{"id":"https://openalex.org/G3663357362","display_name":"Laboratory of Robotics and Engineering Systems","funder_award_id":"UIDB/50009/2020","funder_id":"https://openalex.org/F4320334779","funder_display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia"},{"id":"https://openalex.org/G3778556177","display_name":null,"funder_award_id":"JQ20026","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G4208912088","display_name":null,"funder_award_id":"62061160371","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G514946985","display_name":null,"funder_award_id":"FRF-TP-22-003C2","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G6156443778","display_name":null,"funder_award_id":"61933001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7493082852","display_name":null,"funder_award_id":"62225304","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null},{"id":"https://openalex.org/F4320323893","display_name":"Fundo para o Desenvolvimento das Ci\u00eancias e da Tecnologia","ror":"https://ror.org/05vna4324"},{"id":"https://openalex.org/F4320325365","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993"},{"id":"https://openalex.org/F4320334779","display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","ror":"https://ror.org/00snfqn58"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1590460147","https://openalex.org/W2002675616","https://openalex.org/W2041544190","https://openalex.org/W2043151145","https://openalex.org/W2054500645","https://openalex.org/W2062373349","https://openalex.org/W2079570480","https://openalex.org/W2096552072","https://openalex.org/W2102057409","https://openalex.org/W2125902469","https://openalex.org/W2134790752","https://openalex.org/W2171879251","https://openalex.org/W2726531007","https://openalex.org/W2804427772","https://openalex.org/W2904219526","https://openalex.org/W2911352365","https://openalex.org/W2922358507","https://openalex.org/W2933004559","https://openalex.org/W2964337281","https://openalex.org/W2968945909","https://openalex.org/W2990960986","https://openalex.org/W2992240879","https://openalex.org/W2998060627","https://openalex.org/W3000347853","https://openalex.org/W3016703021","https://openalex.org/W3034366620","https://openalex.org/W3045462839","https://openalex.org/W3105197170","https://openalex.org/W3110781789","https://openalex.org/W3126539509","https://openalex.org/W3128895503","https://openalex.org/W3132786431","https://openalex.org/W3137612139","https://openalex.org/W3155193730","https://openalex.org/W3156623547","https://openalex.org/W3179672787","https://openalex.org/W3186972840","https://openalex.org/W3196571544","https://openalex.org/W4206357158","https://openalex.org/W4224101883","https://openalex.org/W4226334784","https://openalex.org/W4309635084","https://openalex.org/W4313703173","https://openalex.org/W4315490076","https://openalex.org/W4322201919","https://openalex.org/W4322744961"],"related_works":["https://openalex.org/W2787736607","https://openalex.org/W2471779853","https://openalex.org/W2499415631","https://openalex.org/W4386494059","https://openalex.org/W4252800133","https://openalex.org/W2772791324","https://openalex.org/W209553505","https://openalex.org/W2566730525","https://openalex.org/W3169903108","https://openalex.org/W2376844918"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"we":[3],"develop":[4],"a":[5,12,40,47,80,163,167],"methodology":[6],"for":[7],"trajectory":[8,115,137],"tracking":[9],"control":[10],"of":[11,25,42,50,75,86,112,121,132,159],"vertical":[13,134],"takeoff":[14],"and":[15,28,56,78,116,139],"landing":[16],"(VTOL)":[17],"unmanned":[18],"aerial":[19],"vehicle":[20],"(UAV)":[21],"in":[22,162],"the":[23,54,70,73,76,84,87,109,113,122,147,157],"presence":[24],"unknown":[26],"mass":[27,74],"time-varying":[29],"external":[30,88],"disturbances.":[31,89],"A":[32],"time-dependent":[33],"shift":[34],"function":[35],"is":[36,95,125],"introduced,":[37],"which,":[38],"alongside":[39],"set":[41],"barrier":[43],"vector":[44],"functions,":[45],"enables":[46],"finite":[48],"period":[49],"constrained":[51,136],"outputs,":[52],"namely,":[53],"position":[55],"velocity":[57],"errors.":[58],"The":[59,90],"proposed":[60,104,148],"controller":[61,161],"also":[62,153],"features":[63,117],"two":[64],"stable":[65],"adaption":[66],"laws":[67],"to":[68,83,97,128,145,155],"estimate":[69],"following:":[71],"1)":[72],"UAV":[77],"2)":[79],"parameter":[81],"relating":[82],"bound":[85],"total":[91],"closed-loop":[92],"system":[93],"error":[94],"shown":[96],"be":[98],"uniformly":[99],"ultimately":[100],"bounded":[101],"(UUB).":[102],"This":[103],"strategy,":[105],"which":[106],"requires":[107],"only":[108],"first":[110],"derivative":[111],"reference":[114],"an":[118],"implicit":[119],"saturation":[120],"thrust":[123],"force,":[124],"especially":[126],"apt":[127],"handle":[129],"three":[130],"stages":[131],"flight:":[133],"takeoff,":[135],"tracking,":[138],"landing.":[140],"Simulation":[141],"results":[142,151],"are":[143,152],"presented":[144],"validate":[146],"solution.":[149],"Experimental":[150],"included":[154],"showcase":[156],"performance":[158],"our":[160],"real-world":[164],"application":[165],"using":[166],"quadrotor":[168],"vehicle.":[169]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}