{"id":"https://openalex.org/W4376456965","doi":"https://doi.org/10.1109/tie.2023.3273265","title":"Explicit Model Predictive Cascade-Free Direct Force and Torque Control of Quadrotors","display_name":"Explicit Model Predictive Cascade-Free Direct Force and Torque Control of Quadrotors","publication_year":2023,"publication_date":"2023-05-11","ids":{"openalex":"https://openalex.org/W4376456965","doi":"https://doi.org/10.1109/tie.2023.3273265"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2023.3273265","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3273265","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/A5101497624","display_name":"Mengyuan Zhao","orcid":"https://orcid.org/0009-0005-1882-8521"},"institutions":[{"id":"https://openalex.org/I4210115152","display_name":"Zhejiang Institute of Special Equipment Inspection","ror":"https://ror.org/01jb3sz14","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210115152"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Mengyuan Zhao","raw_affiliation_strings":["College of Electrical Engineering, Zhejiang University, Hangzhou, China","Zhejiang University Advanced Electrical Equipment Innovation Center, Hangzhou, China"],"raw_orcid":"https://orcid.org/0009-0005-1882-8521","affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Zhejiang University Advanced Electrical Equipment Innovation Center, Hangzhou, China","institution_ids":["https://openalex.org/I4210115152","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067221304","display_name":"Shiyu Lin","orcid":"https://orcid.org/0000-0002-7433-7592"},"institutions":[{"id":"https://openalex.org/I4210115152","display_name":"Zhejiang Institute of Special Equipment Inspection","ror":"https://ror.org/01jb3sz14","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210115152"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiyu Lin","raw_affiliation_strings":["College of Electrical Engineering, Zhejiang University, Hangzhou, China","Zhejiang University Advanced Electrical Equipment Innovation Center, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-7433-7592","affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Zhejiang University Advanced Electrical Equipment Innovation Center, Hangzhou, China","institution_ids":["https://openalex.org/I4210115152","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002551137","display_name":"Yanfei Cao","orcid":"https://orcid.org/0000-0001-7126-8467"},"institutions":[{"id":"https://openalex.org/I4210115152","display_name":"Zhejiang Institute of Special Equipment Inspection","ror":"https://ror.org/01jb3sz14","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210115152"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanfei Cao","raw_affiliation_strings":["College of Electrical Engineering, Zhejiang University, Hangzhou, China","Zhejiang University Advanced Electrical Equipment Innovation Center, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-7126-8467","affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Zhejiang University Advanced Electrical Equipment Innovation Center, Hangzhou, China","institution_ids":["https://openalex.org/I4210115152","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040462924","display_name":"Zhanqing Zhou","orcid":"https://orcid.org/0000-0001-8982-1320"},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhanqing Zhou","raw_affiliation_strings":["School of Electrical Engineering, Tiangong University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-8982-1320","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049871554","display_name":"Tingna Shi","orcid":"https://orcid.org/0000-0002-5824-9453"},"institutions":[{"id":"https://openalex.org/I4210115152","display_name":"Zhejiang Institute of Special Equipment Inspection","ror":"https://ror.org/01jb3sz14","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210115152"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tingna Shi","raw_affiliation_strings":["College of Electrical Engineering, Zhejiang University, Hangzhou, China","Zhejiang University Advanced Electrical Equipment Innovation Center, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-5824-9453","affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Zhejiang University Advanced Electrical Equipment Innovation Center, Hangzhou, China","institution_ids":["https://openalex.org/I4210115152","https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040518217","display_name":"Changliang Xia","orcid":"https://orcid.org/0000-0003-4348-2196"},"institutions":[{"id":"https://openalex.org/I4210115152","display_name":"Zhejiang Institute of Special Equipment Inspection","ror":"https://ror.org/01jb3sz14","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210115152"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changliang Xia","raw_affiliation_strings":["College of Electrical Engineering, Zhejiang University, Hangzhou, China","Zhejiang University Advanced Electrical Equipment Innovation Center, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-4348-2196","affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Zhejiang University Advanced Electrical Equipment Innovation Center, Hangzhou, China","institution_ids":["https://openalex.org/I4210115152","https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101497624"],"corresponding_institution_ids":["https://openalex.org/I4210115152","https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":1.263,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.76131341,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"71","issue":"4","first_page":"3441","last_page":"3451"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9988999962806702,"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":0.8844146728515625},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7949858903884888},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.6649458408355713},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.626561164855957},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.5185161828994751},{"id":"https://openalex.org/keywords/direct-torque-control","display_name":"Direct torque control","score":0.4415067434310913},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4352492690086365},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4248563051223755},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4168875217437744},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.41521838307380676},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.16931763291358948},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13584628701210022},{"id":"https://openalex.org/keywords/induction-motor","display_name":"Induction motor","score":0.11838540434837341},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11717623472213745}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8844146728515625},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7949858903884888},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.6649458408355713},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.626561164855957},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.5185161828994751},{"id":"https://openalex.org/C109871850","wikidata":"https://www.wikidata.org/wiki/Q1227571","display_name":"Direct torque control","level":4,"score":0.4415067434310913},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4352492690086365},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4248563051223755},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4168875217437744},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41521838307380676},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.16931763291358948},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13584628701210022},{"id":"https://openalex.org/C80962145","wikidata":"https://www.wikidata.org/wiki/Q207450","display_name":"Induction motor","level":3,"score":0.11838540434837341},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11717623472213745},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2023.3273265","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3273265","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":0.550000011920929,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1552300625","https://openalex.org/W1973734421","https://openalex.org/W1986045690","https://openalex.org/W1993170675","https://openalex.org/W2031280071","https://openalex.org/W2063171946","https://openalex.org/W2115922137","https://openalex.org/W2135493101","https://openalex.org/W2135728480","https://openalex.org/W2334750579","https://openalex.org/W2344920143","https://openalex.org/W2789391590","https://openalex.org/W2801716262","https://openalex.org/W2929373701","https://openalex.org/W2933004559","https://openalex.org/W2937319155","https://openalex.org/W3036336784","https://openalex.org/W3128704945","https://openalex.org/W4200135305","https://openalex.org/W4312068917","https://openalex.org/W4312219057"],"related_works":["https://openalex.org/W2153719181","https://openalex.org/W1971748923","https://openalex.org/W1566155057","https://openalex.org/W2060986072","https://openalex.org/W2052574922","https://openalex.org/W64588465","https://openalex.org/W3120641340","https://openalex.org/W2117825986","https://openalex.org/W3114003892","https://openalex.org/W4321062773"],"abstract_inverted_index":{"High-performance":[0],"control":[1,51,66,139],"of":[2,52,85,99,176],"quadrotors'":[3],"force":[4,22,53,63,72,100,133,177],"and":[5,23,38,49,54,64,74,88,101,117,134,173,178,180],"torques":[6,24,179],"is":[7,68,81,107,190],"the":[8,16,21,86,94,104,111,126,132,141,152,170,182,186],"basis":[9],"for":[10],"achieving":[11,47],"excellent":[12],"trajectory":[13],"tracking.":[14],"However,":[15],"conventional":[17],"method":[18,67,168],"indirectly":[19],"controls":[20],"by":[25,192],"controlling":[26],"four":[27,118],"permanent":[28],"magnet":[29],"synchronous":[30],"motors'":[31],"speeds,":[32],"resulting":[33],"in":[34],"poor":[35],"dynamic":[36,171],"performance":[37,172],"static":[39],"deviations":[40],"when":[41],"pneumatic":[42,153],"parameters":[43],"mismatch.":[44],"Dedicated":[45],"to":[46,92,109,150],"high-dynamic":[48],"high-accuracy":[50],"torques,":[55],"an":[56,158],"explicit":[57],"model":[58],"predictive":[59,97],"(EMP)":[60],"cascade-free":[61],"direct":[62,138],"torque":[65,75,135],"proposed.":[69,82],"Firstly,":[70],"defining":[71],"current":[73,128],"currents,":[76],"whereby":[77],"a":[78],"new":[79,145],"structure":[80,146],"Then,":[83],"dynamics":[84],"quadrotor":[87],"motor":[89],"are":[90],"fused":[91],"design":[93],"linear":[95],"robust":[96],"models":[98],"torques.":[102],"Accordingly,":[103],"EMP":[105,123],"controller":[106,124],"constructed":[108],"replace":[110],"traditional":[112],"cascaded":[113],"speed":[114,119,142],"solution":[115],"module":[116],"controllers":[120],"uniformly.":[121],"The":[122,144,166],"generates":[125],"optimal":[127],"commands":[129],"directly":[130],"from":[131],"commands,":[136],"realizing":[137],"without":[140],"loop.":[143],"makes":[147],"it":[148],"possible":[149],"solve":[151],"parameter":[154],"mismatch":[155],"problem":[156],"with":[157],"auxiliary":[159],"extended":[160],"state":[161],"observer,":[162],"obtaining":[163],"offset-free":[164],"control.":[165],"proposed":[167,187],"optimizes":[169],"steady-state":[174],"accuracy":[175],"improves":[181],"system's":[183],"robustness.":[184],"Finally,":[185],"method's":[188],"feasibility":[189],"verified":[191],"experiments.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-27T08:22:11.395708","created_date":"2025-10-10T00:00:00"}
