{"id":"https://openalex.org/W4390939867","doi":"https://doi.org/10.1109/tie.2023.3347848","title":"Fault-Tolerant Control for Multirotor Aerial Transportation Systems With Blade Damage","display_name":"Fault-Tolerant Control for Multirotor Aerial Transportation Systems With Blade Damage","publication_year":2024,"publication_date":"2024-01-17","ids":{"openalex":"https://openalex.org/W4390939867","doi":"https://doi.org/10.1109/tie.2023.3347848"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2023.3347848","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3347848","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/A5055961885","display_name":"Hai Yu","orcid":"https://orcid.org/0000-0002-9772-7091"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hai Yu","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China","Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-9772-7091","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007612621","display_name":"Shizhen Wu","orcid":"https://orcid.org/0000-0002-2907-8106"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shizhen Wu","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China","Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-2907-8106","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036940181","display_name":"Wei He","orcid":"https://orcid.org/0000-0003-1939-0574"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei He","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China","Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-1939-0574","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101575076","display_name":"Xiao Liang","orcid":"https://orcid.org/0000-0002-7311-8005"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Liang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China","Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-7311-8005","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100439073","display_name":"Jianda Han","orcid":"https://orcid.org/0000-0002-9664-4534"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianda Han","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China","Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-9664-4534","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058644546","display_name":"Yongchun Fang","orcid":"https://orcid.org/0000-0002-3061-2708"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongchun Fang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China","Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-3061-2708","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5055961885"],"corresponding_institution_ids":["https://openalex.org/I205237279"],"apc_list":null,"apc_paid":null,"fwci":14.5185,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.98280325,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"71","issue":"10","first_page":"12718","last_page":"12731"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":1.0,"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"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994000196456909,"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":0.994700014591217,"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/multirotor","display_name":"Multirotor","score":0.990024209022522},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.8420256972312927},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5681954026222229},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.44162458181381226},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4340004622936249},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4325392246246338},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.4254145324230194},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38552287220954895},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3103601336479187},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14577069878578186},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12073886394500732},{"id":"https://openalex.org/keywords/network-packet","display_name":"Network packet","score":0.06025898456573486}],"concepts":[{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.990024209022522},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.8420256972312927},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5681954026222229},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44162458181381226},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4340004622936249},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4325392246246338},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.4254145324230194},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38552287220954895},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3103601336479187},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14577069878578186},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12073886394500732},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.06025898456573486},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","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/tie.2023.3347848","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3347848","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.49000000953674316}],"awards":[{"id":"https://openalex.org/G2303075371","display_name":null,"funder_award_id":"62233011","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2573596171","display_name":null,"funder_award_id":"91848203","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3017679674","display_name":null,"funder_award_id":"TJSQNTJ-2020-21","funder_id":"https://openalex.org/F4320330170","funder_display_name":"Young Elite Scientists Sponsorship Program by Tianjin"},{"id":"https://openalex.org/G7051720999","display_name":null,"funder_award_id":"62273187","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/F4320330170","display_name":"Young Elite Scientists Sponsorship Program by Tianjin","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W1523815250","https://openalex.org/W1986045690","https://openalex.org/W2044894195","https://openalex.org/W2053070294","https://openalex.org/W2062551655","https://openalex.org/W2094780870","https://openalex.org/W2109656638","https://openalex.org/W2114373620","https://openalex.org/W2139799964","https://openalex.org/W2592856010","https://openalex.org/W2762068781","https://openalex.org/W2787504052","https://openalex.org/W2787890633","https://openalex.org/W2899591918","https://openalex.org/W2900162782","https://openalex.org/W2902006047","https://openalex.org/W2915008738","https://openalex.org/W2920818226","https://openalex.org/W2921917588","https://openalex.org/W2944972447","https://openalex.org/W2949546210","https://openalex.org/W2964337281","https://openalex.org/W2969259892","https://openalex.org/W2973038385","https://openalex.org/W2980589297","https://openalex.org/W2980834455","https://openalex.org/W2986552956","https://openalex.org/W2986558541","https://openalex.org/W2997364322","https://openalex.org/W3002591267","https://openalex.org/W3003712617","https://openalex.org/W3011540688","https://openalex.org/W3013575237","https://openalex.org/W3032217820","https://openalex.org/W3091778417","https://openalex.org/W3094213688","https://openalex.org/W3096473056","https://openalex.org/W3111389675","https://openalex.org/W3151832812","https://openalex.org/W3163674441","https://openalex.org/W4205158884","https://openalex.org/W4205457000","https://openalex.org/W4205468087","https://openalex.org/W4205772364","https://openalex.org/W4206839297","https://openalex.org/W4220973627","https://openalex.org/W4224096094","https://openalex.org/W4225528867","https://openalex.org/W4225609248","https://openalex.org/W4226494925","https://openalex.org/W4285209607","https://openalex.org/W4285251518","https://openalex.org/W4288779688","https://openalex.org/W4294975929","https://openalex.org/W4295872854","https://openalex.org/W4307255075","https://openalex.org/W4312559581","https://openalex.org/W4313172847","https://openalex.org/W4377018665","https://openalex.org/W4386736676"],"related_works":["https://openalex.org/W2728521155","https://openalex.org/W2556504211","https://openalex.org/W3001421374","https://openalex.org/W2883280110","https://openalex.org/W4379409270","https://openalex.org/W2948766037","https://openalex.org/W2744971221","https://openalex.org/W2724353854","https://openalex.org/W4229060266","https://openalex.org/W2909386959"],"abstract_inverted_index":{"Aerial":[0],"transportation":[1,84,106,198],"systems":[2,199],"are":[3,123,150,165],"important":[4],"ways":[5],"for":[6,81,103,195],"cargo":[7],"delivery,":[8],"especially":[9],"in":[10,87],"forest":[11],"fire-fighting,":[12],"postdisaster":[13],"rescue,":[14],"etc.":[15],"While":[16],"the":[17,32,38,41,43,50,53,62,70,82,104,110,118,127,130,134,138,154,157,169,173,191],"harsh":[18],"working":[19],"environments":[20],"may":[21],"lead":[22],"to":[23,31,68,108,152,167,200],"multirotor":[24,54,131,196,203],"failure,":[25],"such":[26],"as":[27,185],"blade":[28,44,115,141,211],"damage.":[29,116,212],"Due":[30],"inherent":[33],"dynamic":[34],"coupling":[35],"existing":[36],"between":[37],"payload":[39,63,75,139,206],"and":[40,55,73,132,146,162,205],"multirotor,":[42],"damage":[45,142,179],"will":[46],"not":[47],"only":[48],"affect":[49],"dynamics":[51],"of":[52,129,137,156,172,181],"cause":[56],"positioning":[57,71,128,204],"failure":[58],"but":[59],"also":[60],"aggravate":[61],"sway":[64],"motion.":[65],"In":[66],"order":[67],"ensure":[69],"accuracy":[72],"reduce":[74],"oscillations,":[76],"a":[77,93],"fault-tolerant":[78,193],"control":[79,99,121,175],"scheme":[80,100,176],"aerial":[83,105,197],"system":[85,107],"is":[86,101],"urgent":[88],"need.":[89],"To":[90],"this":[91,188],"end,":[92],"finite-time":[94],"disturbance":[95,112],"observer-based":[96],"nonlinear":[97],"hierarchical":[98],"designed":[102],"handle":[109],"lumped":[111],"caused":[113],"by":[114],"Specifically,":[117],"following":[119],"two":[120],"objectives":[122],"achieved:":[124],"1)":[125],"both":[126],"2)":[133],"swing":[135,207],"suppression":[136,208],"with":[140,177,210],"condition.":[143],"Lyapunov":[144],"techniques":[145],"LaSalle's":[147],"invariance":[148],"theorem":[149],"utilized":[151],"prove":[153],"convergence":[155],"equilibrium":[158],"point.":[159],"Finally,":[160],"simulation":[161],"experiment":[163],"tests":[164],"conducted":[166],"verify":[168],"excellent":[170],"performance":[171],"proposed":[174],"different":[178],"degrees":[180],"blades.":[182],"As":[183],"far":[184],"we":[186],"know,":[187],"article":[189],"proposes":[190],"first":[192],"controller":[194],"realize":[201],"simultaneous":[202],"even":[209]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3}],"updated_date":"2026-05-15T08:27:34.491423","created_date":"2025-10-10T00:00:00"}
