{"id":"https://openalex.org/W2897267426","doi":"https://doi.org/10.1109/tvt.2018.2877440","title":"Modeling and Control Design for Quadrotors: A Controlled Hamiltonian Systems Approach","display_name":"Modeling and Control Design for Quadrotors: A Controlled Hamiltonian Systems Approach","publication_year":2018,"publication_date":"2018-10-22","ids":{"openalex":"https://openalex.org/W2897267426","doi":"https://doi.org/10.1109/tvt.2018.2877440","mag":"2897267426"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2018.2877440","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2018.2877440","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","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/A5060911223","display_name":"Yuhu Wu","orcid":"https://orcid.org/0000-0001-9317-1404"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhu Wu","raw_affiliation_strings":["School of Control Science and Engineering, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0001-9317-1404","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004833726","display_name":"Kaijian Hu","orcid":"https://orcid.org/0000-0001-6829-9377"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaijian Hu","raw_affiliation_strings":["School of Control Science and Engineering, Dalian University of Technology, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008939878","display_name":"Xi\u2010Ming Sun","orcid":"https://orcid.org/0000-0002-1883-3495"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xi-Ming Sun","raw_affiliation_strings":["School of Control Science and Engineering, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-1883-3495","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I27357992"],"apc_list":null,"apc_paid":null,"fwci":2.3434,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.8860461,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"67","issue":"12","first_page":"11365","last_page":"11376"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical 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"}},"topics":[{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical 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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9965000152587891,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9940999746322632,"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":0.7020882368087769},{"id":"https://openalex.org/keywords/open-loop-controller","display_name":"Open-loop controller","score":0.5631940364837646},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5442022681236267},{"id":"https://openalex.org/keywords/symplectic-geometry","display_name":"Symplectic geometry","score":0.5394779443740845},{"id":"https://openalex.org/keywords/hamiltonian-system","display_name":"Hamiltonian system","score":0.5158699750900269},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.49779367446899414},{"id":"https://openalex.org/keywords/hamiltonian","display_name":"Hamiltonian (control theory)","score":0.4718071520328522},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.4555858075618744},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4519042372703552},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4404464662075043},{"id":"https://openalex.org/keywords/equilibrium-point","display_name":"Equilibrium point","score":0.41015443205833435},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37596195936203003},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33696508407592773},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3285852074623108},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31699997186660767},{"id":"https://openalex.org/keywords/differential-equation","display_name":"Differential equation","score":0.30105313658714294},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14010193943977356},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1089557409286499},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.10361179709434509},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.07458043098449707}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7020882368087769},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.5631940364837646},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5442022681236267},{"id":"https://openalex.org/C168619227","wikidata":"https://www.wikidata.org/wiki/Q2190991","display_name":"Symplectic geometry","level":2,"score":0.5394779443740845},{"id":"https://openalex.org/C121770821","wikidata":"https://www.wikidata.org/wiki/Q2072471","display_name":"Hamiltonian system","level":2,"score":0.5158699750900269},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49779367446899414},{"id":"https://openalex.org/C130787639","wikidata":"https://www.wikidata.org/wiki/Q5645293","display_name":"Hamiltonian (control theory)","level":2,"score":0.4718071520328522},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.4555858075618744},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4519042372703552},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4404464662075043},{"id":"https://openalex.org/C94766913","wikidata":"https://www.wikidata.org/wiki/Q1530271","display_name":"Equilibrium point","level":3,"score":0.41015443205833435},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37596195936203003},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33696508407592773},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3285852074623108},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31699997186660767},{"id":"https://openalex.org/C78045399","wikidata":"https://www.wikidata.org/wiki/Q11214","display_name":"Differential equation","level":2,"score":0.30105313658714294},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14010193943977356},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1089557409286499},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.10361179709434509},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.07458043098449707},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2018.2877440","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2018.2877440","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1880640618","display_name":null,"funder_award_id":"61773090","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7852836822","display_name":null,"funder_award_id":"61325014","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W70370890","https://openalex.org/W958340709","https://openalex.org/W1489877925","https://openalex.org/W1503208682","https://openalex.org/W1576721254","https://openalex.org/W1912829551","https://openalex.org/W1969589107","https://openalex.org/W1972286093","https://openalex.org/W1987811124","https://openalex.org/W2004030165","https://openalex.org/W2006490107","https://openalex.org/W2025004307","https://openalex.org/W2038617126","https://openalex.org/W2054994117","https://openalex.org/W2059394772","https://openalex.org/W2059493488","https://openalex.org/W2077981455","https://openalex.org/W2079121704","https://openalex.org/W2102226158","https://openalex.org/W2126479355","https://openalex.org/W2137570966","https://openalex.org/W2141666765","https://openalex.org/W2145113795","https://openalex.org/W2150427146","https://openalex.org/W2153807823","https://openalex.org/W2162991084","https://openalex.org/W2163353309","https://openalex.org/W2171541961","https://openalex.org/W2259165155","https://openalex.org/W2344835091","https://openalex.org/W2509135898","https://openalex.org/W2510951381","https://openalex.org/W2550732553","https://openalex.org/W2620084289","https://openalex.org/W4229706427","https://openalex.org/W6602840933","https://openalex.org/W6682360261","https://openalex.org/W6692297858"],"related_works":["https://openalex.org/W25827740","https://openalex.org/W2962845032","https://openalex.org/W2027000851","https://openalex.org/W1004905309","https://openalex.org/W4298036990","https://openalex.org/W2064282017","https://openalex.org/W3011215806","https://openalex.org/W2740968934","https://openalex.org/W2184236071","https://openalex.org/W2100702071"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,43,46],"new":[4],"mathematical":[5],"model":[6,41,115],"of":[7,32,42,92,112,147],"quadrotor":[8,44],"is":[9,45,71,96,105,120,140],"proposed":[10,72,76,114,138],"by":[11,98,124,129],"using":[12],"the":[13,62,75,90,93,103,113,117,137,145],"Hamiltonian":[14,40,78],"approach,":[15],"which":[16],"has":[17],"more":[18],"advantages":[19],"than":[20],"Newtonian":[21],"and":[22,35,55,65,86,102,116,154],"Lagrangian":[23],"approaches":[24],"in":[25],"some":[26],"aspects":[27],"such":[28],"as":[29],"compactness,":[30],"easiness":[31],"controller":[33,70,81,95,104,119,139],"design,":[34],"its":[36],"symplectic":[37,77],"structure.":[38],"The":[39,80,110],"first-order":[47],"differential":[48],"equation":[49],"whose":[50],"states":[51],"include":[52],"generalized":[53,66],"position":[54,87],"momentum":[56],"that":[57,136],"contain":[58],"information":[59],"about":[60],"both":[61],"corresponding":[63],"velocity":[64],"mass.":[67],"A":[68],"nonlinear":[69],"based":[73],"on":[74],"model.":[79],"includes":[82],"two":[83],"sub-controllers-attitude":[84],"sub-controller":[85],"sub-controller.":[88],"Furthermore,":[89],"stability":[91,100],"designed":[94,118],"verified":[97],"Lyapunov":[99],"theorem":[101],"provided":[106],"with":[107],"exponential":[108],"stability.":[109],"effectiveness":[111],"demonstrated":[121],"not":[122],"only":[123],"software-in-the-loop":[125],"simulations":[126],"but":[127],"also":[128],"hardware-in-the-loop":[130],"simulations.":[131],"Real-time":[132],"experimental":[133],"results":[134],"show":[135],"able":[141],"to":[142],"carry":[143],"out":[144],"tasks":[146],"taking":[148],"off,":[149],"tracking":[150],"fixed":[151],"point,":[152],"hovering,":[153],"landing.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":5}],"updated_date":"2026-07-25T15:57:00.446498","created_date":"2025-10-10T00:00:00"}