{"id":"https://openalex.org/W2933004559","doi":"https://doi.org/10.1109/tie.2019.2905808","title":"Design, Implementation, and Evaluation of a Neural-Network-Based Quadcopter UAV System","display_name":"Design, Implementation, and Evaluation of a Neural-Network-Based Quadcopter UAV System","publication_year":2019,"publication_date":"2019-03-28","ids":{"openalex":"https://openalex.org/W2933004559","doi":"https://doi.org/10.1109/tie.2019.2905808","mag":"2933004559"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2019.2905808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2019.2905808","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial 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/A5100688756","display_name":"Fan Jiang","orcid":"https://orcid.org/0000-0002-8636-6868"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fan Jiang","raw_affiliation_strings":["Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-8636-6868","affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031691031","display_name":"Farhad Pourpanah","orcid":"https://orcid.org/0000-0002-7122-9975"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Farhad Pourpanah","raw_affiliation_strings":["College of Mathematics and Statistics, Shenzhen University (SZU), Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-7122-9975","affiliations":[{"raw_affiliation_string":"College of Mathematics and Statistics, Shenzhen University (SZU), Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037660521","display_name":"Qi Hao","orcid":"https://orcid.org/0000-0002-2792-5965"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Hao","raw_affiliation_strings":["Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-2792-5965","affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.8685,"has_fulltext":false,"cited_by_count":126,"citation_normalized_percentile":{"value":0.98282379,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"67","issue":"3","first_page":"2076","last_page":"2085"},"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9943000078201294,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/quadcopter","display_name":"Quadcopter","score":0.9502378702163696},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.7063192129135132},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.679012656211853},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.607414186000824},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5067079663276672},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48953303694725037},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.46603837609291077},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4497414529323578},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.44129347801208496},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4336507320404053},{"id":"https://openalex.org/keywords/inversion","display_name":"Inversion (geology)","score":0.4300110638141632},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2715376019477844},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2685892581939697},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24310380220413208}],"concepts":[{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.9502378702163696},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.7063192129135132},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.679012656211853},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.607414186000824},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5067079663276672},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48953303694725037},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.46603837609291077},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4497414529323578},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.44129347801208496},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4336507320404053},{"id":"https://openalex.org/C1893757","wikidata":"https://www.wikidata.org/wiki/Q3653001","display_name":"Inversion (geology)","level":3,"score":0.4300110638141632},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2715376019477844},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2685892581939697},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24310380220413208},{"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C109007969","wikidata":"https://www.wikidata.org/wiki/Q749565","display_name":"Structural basin","level":2,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2019.2905808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2019.2905808","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.4300000071525574,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G6864775657","display_name":null,"funder_award_id":"CKFW2016041415372174","funder_id":"https://openalex.org/F4320326705","funder_display_name":"Science, Technology and Innovation Commission of Shenzhen Municipality"},{"id":"https://openalex.org/G6901397424","display_name":null,"funder_award_id":"GJHZ20170314114424152","funder_id":"https://openalex.org/F4320326705","funder_display_name":"Science, Technology and Innovation Commission of Shenzhen Municipality"},{"id":"https://openalex.org/G7894026873","display_name":null,"funder_award_id":"61773197","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/F4320326705","display_name":"Science, Technology and Innovation Commission of Shenzhen Municipality","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W80180111","https://openalex.org/W1626388799","https://openalex.org/W1660837199","https://openalex.org/W1669416386","https://openalex.org/W1971589916","https://openalex.org/W1971889852","https://openalex.org/W1977063768","https://openalex.org/W1985196096","https://openalex.org/W1986801025","https://openalex.org/W1994710951","https://openalex.org/W2012292973","https://openalex.org/W2013693529","https://openalex.org/W2022240435","https://openalex.org/W2037539475","https://openalex.org/W2070773533","https://openalex.org/W2087290541","https://openalex.org/W2093039746","https://openalex.org/W2095992310","https://openalex.org/W2097457376","https://openalex.org/W2112166125","https://openalex.org/W2125652030","https://openalex.org/W2143409204","https://openalex.org/W2153807823","https://openalex.org/W2334750579","https://openalex.org/W2388661684","https://openalex.org/W2473425084","https://openalex.org/W2509066406","https://openalex.org/W2588671782","https://openalex.org/W3151851568","https://openalex.org/W6643266825","https://openalex.org/W6644500609"],"related_works":["https://openalex.org/W4293056360","https://openalex.org/W4386804942","https://openalex.org/W2334632809","https://openalex.org/W4385318836","https://openalex.org/W2526240748","https://openalex.org/W2966028239","https://openalex.org/W2264340699","https://openalex.org/W4286778609","https://openalex.org/W3014301972","https://openalex.org/W3089897562"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,59,73,84],"quadcopter":[4],"unmanned":[5],"aerial":[6],"vehicle":[7],"(UAV)":[8],"system":[9,42,81,135],"based":[10,153],"on":[11],"neural-network":[12],"enhanced":[13],"dynamic":[14],"inversion":[15,103],"control":[16,80,145,154],"is":[17,29],"proposed":[18],"for":[19,62,75],"multiple":[20],"real-world":[21],"application":[22],"scenarios.":[23],"A":[24],"sigma-pi":[25],"neural":[26,128],"network":[27,129],"(SPNN)":[28],"used":[30],"as":[31,110,112],"the":[32,36,41,45,48,76,98,102,123,133],"compensator":[33],"to":[34,106,116],"reduce":[35,101],"model":[37],"error":[38],"and":[39,54,64,71,93,119,143],"improve":[40],"performance":[43],"in":[44,141],"presence":[46],"of":[47,50,67,78,125],"uncertainties":[49,109],"UAV":[51,69,79,107],"dynamics,":[52],"payload,":[53],"environment.":[55],"Besides,":[56],"we":[57],"present":[58],"technical":[60],"framework":[61],"fast":[63],"robust":[65],"implementation":[66],"multipurpose":[68],"systems":[70,155],"develop":[72],"testbed":[74],"evaluation":[77],"by":[82,149],"using":[83],"high-precision":[85],"optical":[86],"motion":[87],"capture":[88],"system.":[89],"Both":[90],"simulation":[91],"results":[92,95],"experiment":[94],"demonstrate":[96],"that":[97,147],"SPNN":[99],"can":[100,136],"errors":[104,114],"related":[105,115],"parameter":[108],"well":[111],"tracking":[113],"unknown":[117],"disturbances":[118],"unmodeled":[120],"dynamics.":[121],"With":[122],"help":[124],"an":[126],"online":[127],"(NN)":[130],"learning":[131],"mechanism,":[132],"entire":[134],"achieve":[137],"much":[138],"higher":[139],"accuracy":[140],"attitude":[142],"trajectory":[144],"than":[146],"achieved":[148],"conventional":[150],"proportional-integral":[151],"derivative":[152],"under":[156],"varying":[157],"flight":[158],"conditions.":[159]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":24},{"year":2023,"cited_by_count":27},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":21},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
