{"id":"https://openalex.org/W3158749502","doi":"https://doi.org/10.1109/tie.2021.3076729","title":"Dual-Loop Tube-Based Robust Model Predictive Attitude Tracking Control for Spacecraft With System Constraints and Additive Disturbances","display_name":"Dual-Loop Tube-Based Robust Model Predictive Attitude Tracking Control for Spacecraft With System Constraints and Additive Disturbances","publication_year":2021,"publication_date":"2021-05-05","ids":{"openalex":"https://openalex.org/W3158749502","doi":"https://doi.org/10.1109/tie.2021.3076729","mag":"3158749502"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2021.3076729","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2021.3076729","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":true,"oa_status":"green","oa_url":"https://dspace.lib.cranfield.ac.uk/handle/1826/16694","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024866488","display_name":"Runqi Chai","orcid":"https://orcid.org/0000-0003-4083-8863"},"institutions":[{"id":"https://openalex.org/I82284825","display_name":"Cranfield University","ror":"https://ror.org/05cncd958","country_code":"GB","type":"education","lineage":["https://openalex.org/I82284825"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Runqi Chai","raw_affiliation_strings":["School of Aerospace, Transport and Manufacturing, Cranfield University, Cranfield, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aerospace, Transport and Manufacturing, Cranfield University, Cranfield, U.K","institution_ids":["https://openalex.org/I82284825"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085012064","display_name":"Antonios Tsourdos","orcid":"https://orcid.org/0000-0002-3966-7633"},"institutions":[{"id":"https://openalex.org/I82284825","display_name":"Cranfield University","ror":"https://ror.org/05cncd958","country_code":"GB","type":"education","lineage":["https://openalex.org/I82284825"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Antonios Tsourdos","raw_affiliation_strings":["School of Aerospace, Transport and Manufacturing, Cranfield University, Cranfield, U.K"],"raw_orcid":"https://orcid.org/0000-0002-3966-7633","affiliations":[{"raw_affiliation_string":"School of Aerospace, Transport and Manufacturing, Cranfield University, Cranfield, U.K","institution_ids":["https://openalex.org/I82284825"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036684787","display_name":"Huijun Gao","orcid":"https://orcid.org/0000-0001-5554-5452"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huijun Gao","raw_affiliation_strings":["Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-5554-5452","affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064231378","display_name":"Yuanqing Xia","orcid":"https://orcid.org/0000-0002-5977-4911"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanqing Xia","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-5977-4911","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070349528","display_name":"Senchun Chai","orcid":"https://orcid.org/0000-0003-1910-1795"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Senchun Chai","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-1910-1795","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":15.62,"has_fulltext":false,"cited_by_count":203,"citation_normalized_percentile":{"value":0.99661854,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"69","issue":"4","first_page":"4022","last_page":"4033"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9995999932289124,"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":0.9995999932289124,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9973000288009644,"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":0.9613999724388123,"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/control-theory","display_name":"Control theory (sociology)","score":0.8597438931465149},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6241615414619446},{"id":"https://openalex.org/keywords/spacecraft","display_name":"Spacecraft","score":0.6019194722175598},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.5709327459335327},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5533862709999084},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.46047085523605347},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4409422278404236},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44058844447135925},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4384491741657257},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.43475234508514404},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4149400591850281},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3737832009792328},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20279201865196228},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11308890581130981}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8597438931465149},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6241615414619446},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.6019194722175598},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.5709327459335327},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5533862709999084},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.46047085523605347},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4409422278404236},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44058844447135925},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4384491741657257},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.43475234508514404},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4149400591850281},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3737832009792328},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20279201865196228},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11308890581130981},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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":2,"locations":[{"id":"doi:10.1109/tie.2021.3076729","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2021.3076729","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"},{"id":"pmh:oai:dspace.lib.cranfield.ac.uk:1826/16694","is_oa":true,"landing_page_url":"https://dspace.lib.cranfield.ac.uk/handle/1826/16694","pdf_url":null,"source":{"id":"https://openalex.org/S4306401778","display_name":"CERES (Cranfield University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82284825","host_organization_name":"Cranfield University","host_organization_lineage":["https://openalex.org/I82284825"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:dspace.lib.cranfield.ac.uk:1826/16694","is_oa":true,"landing_page_url":"https://dspace.lib.cranfield.ac.uk/handle/1826/16694","pdf_url":null,"source":{"id":"https://openalex.org/S4306401778","display_name":"CERES (Cranfield University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82284825","host_organization_name":"Cranfield University","host_organization_lineage":["https://openalex.org/I82284825"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1521529224","https://openalex.org/W1997370378","https://openalex.org/W2010162373","https://openalex.org/W2013677780","https://openalex.org/W2056947227","https://openalex.org/W2066425650","https://openalex.org/W2070768496","https://openalex.org/W2087083349","https://openalex.org/W2110620198","https://openalex.org/W2116554046","https://openalex.org/W2130945920","https://openalex.org/W2317535379","https://openalex.org/W2546575425","https://openalex.org/W2729924604","https://openalex.org/W2774276467","https://openalex.org/W2774922731","https://openalex.org/W2792285312","https://openalex.org/W2882083469","https://openalex.org/W2884430764","https://openalex.org/W2901580600","https://openalex.org/W2954605872","https://openalex.org/W2955049691","https://openalex.org/W2969342816","https://openalex.org/W2969714323","https://openalex.org/W2972997443","https://openalex.org/W2981856456","https://openalex.org/W2998566163","https://openalex.org/W3104686123"],"related_works":["https://openalex.org/W3182086065","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W290703985","https://openalex.org/W2157008402","https://openalex.org/W2592302855","https://openalex.org/W1998736187","https://openalex.org/W2040613208","https://openalex.org/W4388390187","https://openalex.org/W1981657331"],"abstract_inverted_index":{"In":[0],"this":[1,190],"article,":[2],"the":[3,24,51,62,65,83,97,102,106,111,115,119,123,135,160,165,183],"problem":[4],"of":[5,26,53,64,105,114,133,153,182],"optimal":[6,70],"time-varying":[7],"attitude":[8,144,177],"tracking":[9,40,116,178],"control":[10,34,41,71,117,139],"for":[11],"rigid":[12],"spacecraft":[13],"with":[14,76],"system":[15,58,85],"constraints":[16,59],"and":[17,55,109,122,159,176],"unknown":[18],"additive":[19],"disturbances":[20,54],"is":[21,43,73,146,168],"considered.":[22],"Through":[23],"design":[25,167],"a":[27,37,77,92],"new":[28],"nonlinear":[29,78],"tube-based":[30],"robust":[31],"model":[32],"predictive":[33],"(TRMPC)":[35],"algorithm,":[36],"dual-loop":[38,137],"cascaded":[39],"framework":[42],"established.":[44],"The":[45,68,131],"proposed":[46,136,166],"TRMPC":[47,138],"algorithm":[48],"explicitly":[49],"considers":[50],"effect":[52],"applies":[56],"tightened":[57],"to":[60,141,170],"predict":[61],"motion":[63],"nominal":[66,98],"system.":[67],"obtained":[69,161],"action":[72],"then":[74],"combined":[75],"feedback":[79],"law":[80],"such":[81],"that":[82,164,181],"actual":[84],"trajectories":[86,145],"can":[87],"always":[88],"be":[89],"steered":[90],"within":[91],"tube":[93],"region":[94],"centered":[95],"around":[96],"solution.":[99],"To":[100],"facilitate":[101],"recursive":[103],"feasibility":[104],"optimization":[107],"process":[108],"guarantee":[110],"input-to-state":[112],"stability":[113],"process,":[118],"terminal":[120,125],"controller":[121],"corresponding":[124],"invariant":[126],"set":[127],"are":[128],"also":[129],"constructed.":[130],"effectiveness":[132],"using":[134],"scheme":[140],"track":[142],"reference":[143],"validated":[147],"by":[148],"experimental":[149],"studies.":[150],"A":[151],"number":[152],"comparative":[154],"studies":[155],"were":[156],"carried":[157],"out,":[158],"results":[162],"reveal":[163],"able":[169],"achieve":[171],"more":[172],"promising":[173],"constraint":[174],"handling":[175],"performance":[179],"than":[180],"other":[184],"newly":[185],"developed":[186],"methods":[187],"investigated":[188],"in":[189],"research.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":11},{"year":2025,"cited_by_count":48},{"year":2024,"cited_by_count":77},{"year":2023,"cited_by_count":42},{"year":2022,"cited_by_count":24},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
