{"id":"https://openalex.org/W4405489481","doi":"https://doi.org/10.1109/tvt.2024.3517579","title":"Iterative Learning Cascade Trajectory Tracking Control for Quadrotor-UAVs With Finite-Frequency Disturbances","display_name":"Iterative Learning Cascade Trajectory Tracking Control for Quadrotor-UAVs With Finite-Frequency Disturbances","publication_year":2024,"publication_date":"2024-12-17","ids":{"openalex":"https://openalex.org/W4405489481","doi":"https://doi.org/10.1109/tvt.2024.3517579"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2024.3517579","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3517579","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/A5001358839","display_name":"Shiyu Qian","orcid":"https://orcid.org/0009-0007-2797-9211"},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shiyu Qian","raw_affiliation_strings":["Key Laboratory of Smart Manufacturing in Energy Chemical Process, East China University of Science and Technology, Ministry of Education, Shanghai, China","Key Laboratory of Smart Manufacturing in Energy Chemical Process, Ministry of Education, East China University of Science and Technology, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Smart Manufacturing in Energy Chemical Process, East China University of Science and Technology, Ministry of Education, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]},{"raw_affiliation_string":"Key Laboratory of Smart Manufacturing in Energy Chemical Process, Ministry of Education, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046873837","display_name":"Jing Xu","orcid":"https://orcid.org/0000-0002-0647-9767"},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Xu","raw_affiliation_strings":["Key Laboratory of Smart Manufacturing in Energy Chemical Process, East China University of Science and Technology, Ministry of Education, Shanghai, China","Key Laboratory of Smart Manufacturing in Energy Chemical Process, Ministry of Education, East China University of Science and Technology, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Smart Manufacturing in Energy Chemical Process, East China University of Science and Technology, Ministry of Education, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]},{"raw_affiliation_string":"Key Laboratory of Smart Manufacturing in Energy Chemical Process, Ministry of Education, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073401450","display_name":"Yugang Niu","orcid":"https://orcid.org/0000-0002-3010-1879"},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yugang Niu","raw_affiliation_strings":["Key Laboratory of Smart Manufacturing in Energy Chemical Process, East China University of Science and Technology, Ministry of Education, Shanghai, China","Key Laboratory of Smart Manufacturing in Energy Chemical Process, Ministry of Education, East China University of Science and Technology, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Smart Manufacturing in Energy Chemical Process, East China University of Science and Technology, Ministry of Education, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]},{"raw_affiliation_string":"Key Laboratory of Smart Manufacturing in Energy Chemical Process, Ministry of Education, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036285251","display_name":"Ticao Jiao","orcid":"https://orcid.org/0000-0001-9323-4321"},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ticao Jiao","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Shandong University of Technology, Zibo, China","School of Electrical and Electronic Engineering, Shandong University of Technology, Zibo, Shandong, P. R. China"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Shandong University of Technology, Zibo, China","institution_ids":["https://openalex.org/I119203015"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Shandong University of Technology, Zibo, Shandong, P. R. China","institution_ids":["https://openalex.org/I119203015"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5001358839"],"corresponding_institution_ids":["https://openalex.org/I143593769"],"apc_list":null,"apc_paid":null,"fwci":2.6045,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.90399867,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"74","issue":"4","first_page":"5624","last_page":"5636"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.994700014591217,"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"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","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"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9896000027656555,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9842000007629395,"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/iterative-learning-control","display_name":"Iterative learning control","score":0.7743120193481445},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7610411047935486},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.6693468689918518},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.641044557094574},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5510563850402832},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4762815833091736},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4568122625350952},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.43116500973701477},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36333799362182617},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3466862142086029},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22642195224761963},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22309261560440063},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13708579540252686}],"concepts":[{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.7743120193481445},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7610411047935486},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.6693468689918518},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.641044557094574},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5510563850402832},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4762815833091736},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4568122625350952},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.43116500973701477},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36333799362182617},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3466862142086029},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22642195224761963},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22309261560440063},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13708579540252686},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2024.3517579","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3517579","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":[{"display_name":"Affordable and clean energy","score":0.5299999713897705,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G4489779044","display_name":null,"funder_award_id":"62333006","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8587638209","display_name":null,"funder_award_id":"62173141","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":33,"referenced_works":["https://openalex.org/W1641528119","https://openalex.org/W2034759209","https://openalex.org/W2061438946","https://openalex.org/W2075582733","https://openalex.org/W2083212388","https://openalex.org/W2108489060","https://openalex.org/W2138099152","https://openalex.org/W2149841186","https://openalex.org/W2166991672","https://openalex.org/W2497188858","https://openalex.org/W2498803165","https://openalex.org/W2572912109","https://openalex.org/W2605661021","https://openalex.org/W2735952635","https://openalex.org/W2762040941","https://openalex.org/W2782828584","https://openalex.org/W2964257895","https://openalex.org/W2970772741","https://openalex.org/W3126539509","https://openalex.org/W3126895522","https://openalex.org/W3171839051","https://openalex.org/W4206390660","https://openalex.org/W4285040449","https://openalex.org/W4285233208","https://openalex.org/W4293062197","https://openalex.org/W4318305690","https://openalex.org/W4377971451","https://openalex.org/W4379382280","https://openalex.org/W4391147915","https://openalex.org/W4391986053","https://openalex.org/W4394951241","https://openalex.org/W4399284072","https://openalex.org/W4400975100"],"related_works":["https://openalex.org/W2153719181","https://openalex.org/W2761624296","https://openalex.org/W1971748923","https://openalex.org/W1566155057","https://openalex.org/W2060986072","https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W4309225183","https://openalex.org/W2157008402"],"abstract_inverted_index":{"Due":[0],"to":[1,106,174],"the":[2,9,12,21,26,55,70,80,84,88,109,114,118,122,131,167],"under-actuated":[3],"and":[4,25,60,86,116,135,152,154,178],"strong":[5],"coupling":[6],"characteristics":[7],"of":[8,58,69,83,113,133,169],"quadrotor":[10],"system,":[11],"conventional":[13],"trajectory":[14,37],"tracking":[15,38,111],"control":[16,23,39,52,177],"methods":[17],"always":[18],"suffer":[19],"from":[20,128],"low":[22],"precision,":[24],"poor":[27],"anti-disturbance":[28],"capability.":[29],"In":[30],"this":[31,170],"work,":[32],"an":[33,95],"iterative":[34,96],"learning":[35,97,127,137],"high-performance":[36],"method":[40],"is":[41,101],"designed":[42,49,102],"for":[43,91,103,108],"quadrotors":[44],"with":[45],"finite-frequency":[46,71],"uncertainties.":[47],"The":[48,145],"closed-loop":[50],"flight":[51,124],"system":[53],"includes":[54],"cascade":[56,65,175,179],"connection":[57],"position":[59,66],"attitude":[61],"loops.":[62,93],"First,":[63],"a":[64,140],"loop,":[67],"composed":[68],"<inline-formula":[72],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[73],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[74],"notation=\"LaTeX\">$H_\\infty$</tex-math></inline-formula>":[75],"based":[76],"PD-PID":[77],"controllers,":[78],"controls":[79],"translational":[81],"dynamics":[82],"quadrotor,":[85],"generates":[87],"desired":[89],"attitudes":[90],"inner":[92,104],"Then,":[94],"P-sliding":[98],"mode":[99],"controller":[100],"loops":[105],"compensate":[107],"repeatable":[110],"errors":[112],"attitudes,":[115],"attenuate":[117],"sensor":[119],"noises":[120],"during":[121],"periodic":[123],"maneuvers.":[125],"By":[126],"previous":[129],"iterations,":[130],"combination":[132],"SMC":[134],"PD-type":[136],"terms":[138],"yields":[139],"satisfactory":[141],"inner-loop":[142],"robust":[143],"performance.":[144],"resulting":[146],"algorithm":[147],"requires":[148],"little":[149],"computational":[150],"power":[151],"memory,":[153],"its":[155],"convergence":[156],"properties":[157],"under":[158],"measurement":[159],"noise":[160],"are":[161],"shown.":[162],"Experimental":[163],"results":[164],"have":[165],"demonstrated":[166],"effectiveness":[168],"approach":[171],"in":[172],"comparison":[173],"PID-PID":[176],"PID-SMC":[180],"methods.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5}],"updated_date":"2026-04-03T22:45:19.894376","created_date":"2025-10-10T00:00:00"}
