{"id":"https://openalex.org/W4415367411","doi":"https://doi.org/10.1109/tie.2025.3605443","title":"A Novel Coaxial Dual-Propeller Omnidirectional Tiltrotor Aircraft: Design and Control","display_name":"A Novel Coaxial Dual-Propeller Omnidirectional Tiltrotor Aircraft: Design and Control","publication_year":2025,"publication_date":"2025-10-20","ids":{"openalex":"https://openalex.org/W4415367411","doi":"https://doi.org/10.1109/tie.2025.3605443"},"language":null,"primary_location":{"id":"doi:10.1109/tie.2025.3605443","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3605443","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/A5063025089","display_name":"Ruoqiao Guan","orcid":null},"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":"Ruoqiao Guan","raw_affiliation_strings":["Control and Simulation Center, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0009-2828-5080","affiliations":[{"raw_affiliation_string":"Control and Simulation Center, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109593005","display_name":"Rui Xing","orcid":"https://orcid.org/0009-0005-4938-9197"},"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":"Rui Xing","raw_affiliation_strings":["Control and Simulation Center, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0005-4938-9197","affiliations":[{"raw_affiliation_string":"Control and Simulation Center, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114998860","display_name":"Ning Hao","orcid":"https://orcid.org/0000-0002-7472-754X"},"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":"Ning Hao","raw_affiliation_strings":["Control and Simulation Center, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-7472-754X","affiliations":[{"raw_affiliation_string":"Control and Simulation Center, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100635370","display_name":"Fenghua He","orcid":"https://orcid.org/0000-0001-7923-3277"},"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":"Fenghua He","raw_affiliation_strings":["Control and Simulation Center, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-7923-3277","affiliations":[{"raw_affiliation_string":"Control and Simulation Center, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087736924","display_name":"Hao Luo","orcid":"https://orcid.org/0000-0003-2143-2438"},"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":"Hao Luo","raw_affiliation_strings":["Control and Simulation Center, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-2143-2438","affiliations":[{"raw_affiliation_string":"Control and Simulation Center, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101830764","display_name":"Yu Yao","orcid":"https://orcid.org/0000-0003-4891-7195"},"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":"Yu Yao","raw_affiliation_strings":["Control and Simulation Center, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-4891-7195","affiliations":[{"raw_affiliation_string":"Control and Simulation Center, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":3.3626,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.93573548,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"73","issue":"2","first_page":"2620","last_page":"2631"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.975600004196167,"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.975600004196167,"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/T11602","display_name":"Magnetic Bearings and Levitation Dynamics","score":0.9284999966621399,"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/T11096","display_name":"Aeroelasticity and Vibration Control","score":0.9114999771118164,"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/thrust","display_name":"Thrust","score":0.6802999973297119},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6419000029563904},{"id":"https://openalex.org/keywords/coaxial","display_name":"Coaxial","score":0.593999981880188},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.5551000237464905},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47110000252723694},{"id":"https://openalex.org/keywords/stator","display_name":"Stator","score":0.4074000120162964},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4000999927520752},{"id":"https://openalex.org/keywords/propeller","display_name":"Propeller","score":0.375},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.3562000095844269}],"concepts":[{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.6802999973297119},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6419000029563904},{"id":"https://openalex.org/C51221625","wikidata":"https://www.wikidata.org/wiki/Q1751466","display_name":"Coaxial","level":2,"score":0.593999981880188},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.5551000237464905},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47110000252723694},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44179999828338623},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4250999987125397},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.412200003862381},{"id":"https://openalex.org/C2776529397","wikidata":"https://www.wikidata.org/wiki/Q190312","display_name":"Stator","level":2,"score":0.4074000120162964},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4000999927520752},{"id":"https://openalex.org/C80055088","wikidata":"https://www.wikidata.org/wiki/Q205451","display_name":"Propeller","level":2,"score":0.375},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.3562000095844269},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.30809998512268066},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.30219998955726624},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.29580000042915344},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.2928999960422516},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.290800005197525},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.2847999930381775},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2782999873161316},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.27219998836517334},{"id":"https://openalex.org/C149810388","wikidata":"https://www.wikidata.org/wiki/Q5374873","display_name":"Emulation","level":2,"score":0.27079999446868896},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2694999873638153},{"id":"https://openalex.org/C2779478453","wikidata":"https://www.wikidata.org/wiki/Q6889748","display_name":"Modularity (biology)","level":2,"score":0.2662999927997589},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.25690001249313354},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.25360000133514404},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2531999945640564},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.2529999911785126}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2025.3605443","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3605443","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1998434453","https://openalex.org/W2089908769","https://openalex.org/W2217049947","https://openalex.org/W2625419594","https://openalex.org/W2769180486","https://openalex.org/W2783840519","https://openalex.org/W2883733830","https://openalex.org/W2954687219","https://openalex.org/W3003798039","https://openalex.org/W3048039920","https://openalex.org/W3091628121","https://openalex.org/W3107689482","https://openalex.org/W3118237654","https://openalex.org/W3158107096","https://openalex.org/W3162024654","https://openalex.org/W3173918856","https://openalex.org/W3175170326","https://openalex.org/W3186101809","https://openalex.org/W3192694561","https://openalex.org/W4205352698","https://openalex.org/W4377235671","https://openalex.org/W4387303291","https://openalex.org/W4398250458","https://openalex.org/W4401717806","https://openalex.org/W4401907572","https://openalex.org/W4401990047","https://openalex.org/W4403534986"],"related_works":[],"abstract_inverted_index":{"To":[0],"address":[1],"the":[2,64,73,106],"challenges":[3],"in":[4,51],"achieving":[5],"plug-and-play":[6],"functionality":[7],"for":[8,66],"tiltrotor":[9,139],"aircraft,":[10],"this":[11],"article":[12],"proposes":[13],"a":[14,42,77,84,136,151],"novel":[15],"coaxial":[16,47],"dual-propeller":[17],"omnidirectional":[18],"architecture":[19],"that":[20,89],"redefines":[21],"modularity":[22],"and":[23,35,60,70,117,169],"operational":[24],"flexibility.":[25],"Unlike":[26],"conventional":[27,177],"designs":[28],"requiring":[29],"laborious":[30],"offline":[31],"calibration":[32],"of":[33],"thrust":[34,74,92,163],"reaction":[36,58],"torque":[37,67],"coefficients,":[38],"our":[39],"system":[40,107],"employs":[41],"self-decoupling":[43],"rotor":[44],"configuration":[45],"with":[46,150],"propellers":[48],"rotating":[49],"synchronously":[50],"opposite":[52],"directions.":[53],"This":[54,123],"design":[55],"inherently":[56],"cancels":[57],"torques":[59],"gyroscopic":[61],"moments,":[62],"eliminating":[63],"need":[65],"coefficient":[68,75,93,164],"identification":[69],"retaining":[71],"only":[72],"as":[76],"dynamically":[78],"coupled":[79],"parameter.":[80],"We":[81],"further":[82],"propose":[83],"hierarchical":[85],"adaptive":[86],"control":[87],"framework":[88],"incorporates":[90],"real-time":[91],"estimation":[94,165],"based":[95],"on":[96,135],"translational":[97],"dynamics.":[98],"By":[99],"integrating":[100],"an":[101],"online":[102,162],"recursive":[103],"least-squares":[104],"estimator,":[105],"autonomously":[108],"adapt":[109],"to":[110,176],"different":[111],"modules,":[112],"including":[113],"varying":[114,158],"propeller":[115],"geometries":[116],"payloads,":[118],"without":[119],"manual":[120],"parameter":[121],"tuning.":[122],"unified":[124],"hardware\u2013software":[125],"codesign":[126],"ensures":[127],"seamless":[128],"compatibility":[129],"across":[130,157],"component":[131],"swaps.":[132],"Experimental":[133],"validation":[134],"fully":[137],"functional":[138],"prototype":[140],"demonstrates":[141],"three":[142],"key":[143],"capabilities:":[144],"1)":[145],"accurate":[146],"6-degree-of-freedom":[147],"trajectory":[148],"tracking":[149],"position":[152],"RMSE":[153],"below":[154],"5":[155],"cm":[156],"tasks;":[159],"2)":[160],"stable":[161],"under":[166],"diverse":[167],"configurations;":[168],"3)":[170],"significantly":[171],"reduced":[172],"setup":[173],"time":[174],"compared":[175],"calibration-based":[178],"systems.":[179]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-21T00:00:00"}