{"id":"https://openalex.org/W4205457000","doi":"https://doi.org/10.1109/tie.2022.3140494","title":"Safety Control for Quadrotor UAV Against Ground Effect and Blade Damage","display_name":"Safety Control for Quadrotor UAV Against Ground Effect and Blade Damage","publication_year":2022,"publication_date":"2022-01-11","ids":{"openalex":"https://openalex.org/W4205457000","doi":"https://doi.org/10.1109/tie.2022.3140494"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2022.3140494","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3140494","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/A5112350914","display_name":"Kexin Guo","orcid":"https://orcid.org/0000-0003-0499-9600"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kexin Guo","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0499-9600","affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100385197","display_name":"Wenyu Zhang","orcid":"https://orcid.org/0000-0001-9739-3151"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenyu Zhang","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9739-3151","affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101761963","display_name":"Yukai Zhu","orcid":"https://orcid.org/0000-0002-1275-3742"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yukai Zhu","raw_affiliation_strings":["School of Astronautics, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1275-3742","affiliations":[{"raw_affiliation_string":"School of Astronautics, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004534196","display_name":"Jindou Jia","orcid":"https://orcid.org/0000-0002-1866-6180"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jindou Jia","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084857817","display_name":"Xiang Yu","orcid":"https://orcid.org/0000-0002-9005-3733"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Yu","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-9005-3733","affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100416422","display_name":"Youmin Zhang","orcid":"https://orcid.org/0000-0002-9731-5943"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Youmin Zhang","raw_affiliation_strings":["Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada"],"raw_orcid":"https://orcid.org/0000-0002-9731-5943","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada","institution_ids":["https://openalex.org/I60158472"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.6855,"has_fulltext":false,"cited_by_count":63,"citation_normalized_percentile":{"value":0.97651493,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"69","issue":"12","first_page":"13373","last_page":"13383"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9890999794006348,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.9890000224113464,"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":0.8006230592727661},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.5528584718704224},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5188937783241272},{"id":"https://openalex.org/keywords/euler-angles","display_name":"Euler angles","score":0.4458605647087097},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.4398622512817383},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.4337727427482605},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39335429668426514},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.35118287801742554},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.21095579862594604},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1263273060321808},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12561628222465515},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08844524621963501}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8006230592727661},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.5528584718704224},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5188937783241272},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.4458605647087097},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.4398622512817383},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.4337727427482605},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39335429668426514},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.35118287801742554},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.21095579862594604},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1263273060321808},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12561628222465515},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08844524621963501},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical 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},{"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/tie.2022.3140494","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3140494","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":[],"awards":[{"id":"https://openalex.org/G5369818959","display_name":null,"funder_award_id":"LQ20F030006","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"},{"id":"https://openalex.org/G702844089","display_name":null,"funder_award_id":"61903019","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8016965381","display_name":"\u5177\u6709\u73af\u5883\u9002\u5e94\u6027\u7684\u65e0\u4eba\u673a\u81ea\u4e3b\u5b89\u5168\u63a7\u5236\u7406\u8bba\u7814\u7a76\u4e0e\u9a8c\u8bc1","funder_award_id":"61973012","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/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1576721254","https://openalex.org/W1978555529","https://openalex.org/W2018875705","https://openalex.org/W2047035041","https://openalex.org/W2055861714","https://openalex.org/W2060446060","https://openalex.org/W2080447794","https://openalex.org/W2103608534","https://openalex.org/W2127866231","https://openalex.org/W2135493101","https://openalex.org/W2139494503","https://openalex.org/W2162991084","https://openalex.org/W2334750579","https://openalex.org/W2524318075","https://openalex.org/W2536003357","https://openalex.org/W2580507099","https://openalex.org/W2768254723","https://openalex.org/W2768276274","https://openalex.org/W2899591918","https://openalex.org/W2905342859","https://openalex.org/W2923412837","https://openalex.org/W2964155710","https://openalex.org/W3003535250","https://openalex.org/W3005548198","https://openalex.org/W3090252872","https://openalex.org/W3124953873","https://openalex.org/W3147069738","https://openalex.org/W3151832812","https://openalex.org/W4256152864","https://openalex.org/W4256153703"],"related_works":["https://openalex.org/W2313373071","https://openalex.org/W2146832523","https://openalex.org/W2317860422","https://openalex.org/W2990181534","https://openalex.org/W4309462258","https://openalex.org/W2466443277","https://openalex.org/W3011706881","https://openalex.org/W28949169","https://openalex.org/W2413615493","https://openalex.org/W2368484960"],"abstract_inverted_index":{"This":[0],"article":[1],"proposes":[2],"a":[3,47,55],"safety":[4,37,143],"control":[5,38,57,118,144],"scheme":[6,39],"for":[7],"quadrotor":[8,153],"unmanned":[9],"aerial":[10],"vehicle":[11],"(UAV)":[12],"to":[13,76,103,127,157],"counteract":[14],"ground":[15,23,130,160],"effect":[16,24,131],"and":[17,25,43,49,109,119,132],"blade":[18,26,133,165],"damage.":[19,166],"The":[20,35,82],"impacts":[21],"of":[22,41,140,164],"damage":[27,134],"are":[28,125,148],"quantitatively":[29],"analyzed":[30],"in":[31,61,161],"the":[32,62,70,78,88,93,105,110,113,138,141,152,158,162],"established":[33],"model.":[34],"proposed":[36,142],"consists":[40],"position":[42,63],"attitude":[44,114],"loops.":[45],"Specifically,":[46],"proportional":[48],"derivative":[50],"controller":[51],"is":[52,74,101],"designed":[53],"as":[54],"baseline":[56],"with":[58,129],"acceleration":[59],"feedforward":[60],"loop.":[64],"A":[65],"disturbance":[66,80],"observer":[67,123],"(DO)":[68],"using":[69],"measured":[71],"Euler":[72,106],"angles":[73],"exploited":[75],"estimate":[77],"lumped":[79],"forces.":[81],"developed":[83],"DO":[84],"can":[85],"effectively":[86],"mitigate":[87],"estimation":[89],"deviation":[90],"caused":[91],"by":[92],"angle":[94,107],"tracking":[95],"error.":[96],"Subsequently,":[97],"differential":[98],"flatness":[99],"theory":[100],"used":[102],"obtain":[104],"references":[108],"derivatives.":[111],"In":[112],"loop,":[115],"sliding":[116,121],"mode":[117,122],"fixed-time":[120],"(SMO)":[124],"integrated":[126],"deal":[128],"promptly.":[135],"To":[136],"demonstrate":[137],"effectiveness":[139],"scheme,":[145],"flight":[146],"experiments":[147],"carried":[149],"out,":[150],"where":[151],"UAV":[154],"flies":[155],"close":[156],"rugged":[159],"presence":[163]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":25},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}