{"id":"https://openalex.org/W1919002818","doi":"https://doi.org/10.1109/cca.2015.7320769","title":"Fast nonlinear model predictive control for multicopter attitude tracking on SO(3)","display_name":"Fast nonlinear model predictive control for multicopter attitude tracking on SO(3)","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W1919002818","doi":"https://doi.org/10.1109/cca.2015.7320769","mag":"1919002818"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2015.7320769","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2015.7320769","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE Conference on Control Applications (CCA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/record/1143719","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084290807","display_name":"Mina Kamel","orcid":"https://orcid.org/0000-0002-0764-236X"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Mina Kamel","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","Autonomous Systems Lab at ETH Zurich, Leonhardstrasse 21, 8092, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab at ETH Zurich, Leonhardstrasse 21, 8092, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022659812","display_name":"Kostas Alexis","orcid":"https://orcid.org/0000-0002-9989-298X"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Kostas Alexis","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","Autonomous Systems Lab at ETH Zurich, Leonhardstrasse 21, 8092, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab at ETH Zurich, Leonhardstrasse 21, 8092, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055860801","display_name":"Markus Achtelik","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Markus Achtelik","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","Autonomous Systems Lab at ETH Zurich, Leonhardstrasse 21, 8092, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab at ETH Zurich, Leonhardstrasse 21, 8092, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","Autonomous Systems Lab at ETH Zurich, Leonhardstrasse 21, 8092, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab at ETH Zurich, Leonhardstrasse 21, 8092, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5084290807"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":8.5083,"has_fulltext":false,"cited_by_count":97,"citation_normalized_percentile":{"value":0.97731479,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1160","last_page":"1166"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9995999932289124,"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":0.9995999932289124,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.9884999990463257,"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":0.8788163661956787},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7492477893829346},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6902418732643127},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.6480076909065247},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6418900489807129},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5728704929351807},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5246387124061584},{"id":"https://openalex.org/keywords/propeller","display_name":"Propeller","score":0.50235915184021},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47789251804351807},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4678163230419159},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.447849839925766},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.41776689887046814},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40995925664901733},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3260926604270935},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23419755697250366},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22339046001434326}],"concepts":[{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.8788163661956787},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7492477893829346},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6902418732643127},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.6480076909065247},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6418900489807129},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5728704929351807},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5246387124061584},{"id":"https://openalex.org/C80055088","wikidata":"https://www.wikidata.org/wiki/Q205451","display_name":"Propeller","level":2,"score":0.50235915184021},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47789251804351807},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4678163230419159},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.447849839925766},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.41776689887046814},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40995925664901733},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3260926604270935},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23419755697250366},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22339046001434326},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive 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/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cca.2015.7320769","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2015.7320769","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE Conference on Control Applications (CCA)","raw_type":"proceedings-article"},{"id":"pmh:oai:zenodo.org:1143719","is_oa":true,"landing_page_url":"https://zenodo.org/record/1143719","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/other"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:1143719","is_oa":true,"landing_page_url":"https://zenodo.org/record/1143719","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/other"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1537709511","https://openalex.org/W1562460111","https://openalex.org/W1607046631","https://openalex.org/W1969234587","https://openalex.org/W2013439434","https://openalex.org/W2018431869","https://openalex.org/W2035981208","https://openalex.org/W2044494131","https://openalex.org/W2060543224","https://openalex.org/W2062803637","https://openalex.org/W2097020018","https://openalex.org/W2098536261","https://openalex.org/W2098956671","https://openalex.org/W2109656638","https://openalex.org/W2127752689","https://openalex.org/W2133229586","https://openalex.org/W2143938908","https://openalex.org/W2162991084","https://openalex.org/W2166228377","https://openalex.org/W2469875636","https://openalex.org/W2735608840","https://openalex.org/W2874800706","https://openalex.org/W4230352707","https://openalex.org/W4255885994","https://openalex.org/W6632040416","https://openalex.org/W6633748999","https://openalex.org/W6719877626"],"related_works":["https://openalex.org/W2728521155","https://openalex.org/W2556504211","https://openalex.org/W2810775292","https://openalex.org/W3150660900","https://openalex.org/W2807937263","https://openalex.org/W2045675572","https://openalex.org/W4396876051","https://openalex.org/W2094374960","https://openalex.org/W2968553720","https://openalex.org/W128654086"],"abstract_inverted_index":{"Exploiting":[0],"the":[1,45,49,53,97,102,105],"highly":[2],"dynamic":[3],"flight":[4],"envelope":[5],"of":[6,22,44,104],"a":[7,14,32,41,71,80,121],"multirotor":[8],"Micro":[9],"Aerial":[10],"Vehicle":[11],"(MAV)":[12],"is":[13,61,77,107],"particularly":[15],"challenging":[16],"task":[17],"that":[18],"requires":[19],"special":[20,55],"treatment":[21],"its":[23],"attitude":[24,51,116],"control":[25,37,68],"loop.":[26],"In":[27],"this":[28],"paper,":[29],"we":[30],"propose":[31],"fast":[33],"nonlinear":[34],"model":[35],"predictive":[36],"approach":[38],"based":[39],"on":[40,52],"geometric":[42],"formulation":[43],"error":[46],"to":[47,109],"track":[48,110],"MAV":[50],"SO(3)":[54],"orthogonal":[56],"group.":[57],"The":[58,74],"proposed":[59],"controller":[60],"combined":[62],"with":[63],"an":[64],"optimal":[65],"position":[66],"tracking":[67],"strategy":[69],"in":[70,84],"cascaded":[72],"fashion.":[73],"overall":[75],"framework":[76],"implemented":[78],"on-board":[79],"hexacopter":[81],"and":[82,118],"verified":[83],"both":[85],"high":[86],"fidelity":[87],"simulations":[88],"as":[89,91],"well":[90],"extensive":[92],"experimental":[93],"studies.":[94],"As":[95],"shown,":[96],"resulting":[98],"closed-loop":[99],"system":[100],"exploits":[101],"dynamics":[103],"platform,":[106],"able":[108],"aggressive":[111],"trajectories,":[112],"recover":[113],"from":[114],"arbitrary":[115],"configurations":[117],"also":[119],"handle":[120],"propeller":[122],"failure.":[123]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":18},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":15},{"year":2018,"cited_by_count":19},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":4}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}