{"id":"https://openalex.org/W3134336860","doi":"https://doi.org/10.1109/taes.2021.3061819","title":"MPC Flight Control for a Tilt-Rotor VTOL Aircraft","display_name":"MPC Flight Control for a Tilt-Rotor VTOL Aircraft","publication_year":2021,"publication_date":"2021-03-03","ids":{"openalex":"https://openalex.org/W3134336860","doi":"https://doi.org/10.1109/taes.2021.3061819","mag":"3134336860"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2021.3061819","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2021.3061819","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Aerospace and Electronic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-03507625","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041401501","display_name":"Leonard Bauersfeld","orcid":"https://orcid.org/0000-0002-5790-9982"},"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":"L. Bauersfeld","raw_affiliation_strings":["Institute for Dynamic Systems, and Control, ETH Z\u00fcrich, Switzerland","Eidgen\u00f6ssische Technische Hochschule - Swiss Federal Institute of Technology  [Z\u00fcrich]"],"affiliations":[{"raw_affiliation_string":"Institute for Dynamic Systems, and Control, ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Eidgen\u00f6ssische Technische Hochschule - Swiss Federal Institute of Technology  [Z\u00fcrich]","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021719519","display_name":"Lukas Spannagl","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":"L. Spannagl","raw_affiliation_strings":["Institute for Dynamic Systems, and Control, ETH Z\u00fcrich, Switzerland","Eidgen\u00f6ssische Technische Hochschule - Swiss Federal Institute of Technology  [Z\u00fcrich]"],"affiliations":[{"raw_affiliation_string":"Institute for Dynamic Systems, and Control, ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Eidgen\u00f6ssische Technische Hochschule - Swiss Federal Institute of Technology  [Z\u00fcrich]","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077439037","display_name":"Guillaume Ducard","orcid":"https://orcid.org/0000-0002-7400-4915"},"institutions":[{"id":"https://openalex.org/I4210106479","display_name":"Laboratoire d'Informatique, Signaux et Syst\u00e8mes de Sophia Antipolis","ror":"https://ror.org/01215r597","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I201841394","https://openalex.org/I4210106479","https://openalex.org/I4210159245"]},{"id":"https://openalex.org/I4210150884","display_name":"Fondation Sophia Antipolis","ror":"https://ror.org/05nkcfv27","country_code":"FR","type":"other","lineage":["https://openalex.org/I4210150884"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"G. Ducard","raw_affiliation_strings":["University Cote d\u2019Azur, Centre national de la recherche scientifique, Sophia Antipolis, France","Signal, Images et Syst\u00e8mes","Laboratoire d'Informatique, Signaux, et Syst\u00e8mes de Sophia Antipolis"],"affiliations":[{"raw_affiliation_string":"University Cote d\u2019Azur, Centre national de la recherche scientifique, Sophia Antipolis, France","institution_ids":["https://openalex.org/I4210150884"]},{"raw_affiliation_string":"Signal, Images et Syst\u00e8mes","institution_ids":[]},{"raw_affiliation_string":"Laboratoire d'Informatique, Signaux, et Syst\u00e8mes de Sophia Antipolis","institution_ids":["https://openalex.org/I4210106479"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111535263","display_name":"Christopher H. Onder","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":"C. Onder","raw_affiliation_strings":["Institute for Dynamic Systems, and Control, ETH Z\u00fcrich, Switzerland","Eidgen\u00f6ssische Technische Hochschule - Swiss Federal Institute of Technology  [Z\u00fcrich]"],"affiliations":[{"raw_affiliation_string":"Institute for Dynamic Systems, and Control, ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Eidgen\u00f6ssische Technische Hochschule - Swiss Federal Institute of Technology  [Z\u00fcrich]","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5041401501"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":12.0853,"has_fulltext":false,"cited_by_count":129,"citation_normalized_percentile":{"value":0.9913949,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"57","issue":"4","first_page":"2395","last_page":"2409"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998000264167786,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998000264167786,"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":0.9997000098228455,"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/T11236","display_name":"Control Systems and Identification","score":0.9972000122070312,"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":0.7545737624168396},{"id":"https://openalex.org/keywords/takeoff-and-landing","display_name":"Takeoff and landing","score":0.7240697741508484},{"id":"https://openalex.org/keywords/tilt","display_name":"Tilt (camera)","score":0.6286881566047668},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5964081287384033},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.5697796940803528},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.5342487692832947},{"id":"https://openalex.org/keywords/takeoff","display_name":"Takeoff","score":0.5212429165840149},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.5034956336021423},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.44153520464897156},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.43636447191238403},{"id":"https://openalex.org/keywords/propeller","display_name":"Propeller","score":0.42331716418266296},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42282694578170776},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39525726437568665},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34042224287986755},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28571903705596924},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2631680965423584},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0863598883152008}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7545737624168396},{"id":"https://openalex.org/C2780631144","wikidata":"https://www.wikidata.org/wiki/Q20046585","display_name":"Takeoff and landing","level":2,"score":0.7240697741508484},{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.6286881566047668},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5964081287384033},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.5697796940803528},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.5342487692832947},{"id":"https://openalex.org/C2777717826","wikidata":"https://www.wikidata.org/wiki/Q854248","display_name":"Takeoff","level":2,"score":0.5212429165840149},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.5034956336021423},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.44153520464897156},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.43636447191238403},{"id":"https://openalex.org/C80055088","wikidata":"https://www.wikidata.org/wiki/Q205451","display_name":"Propeller","level":2,"score":0.42331716418266296},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42282694578170776},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39525726437568665},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34042224287986755},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28571903705596924},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2631680965423584},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0863598883152008},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/taes.2021.3061819","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2021.3061819","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Aerospace and Electronic Systems","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-03507625v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03507625","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"IEEE Transactions on Aerospace and Electronic Systems, 2021, 57 (4), pp.2395-2409. &#x27E8;10.1109/TAES.2021.3061819&#x27E9;","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-03507625v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03507625","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"IEEE Transactions on Aerospace and Electronic Systems, 2021, 57 (4), pp.2395-2409. &#x27E8;10.1109/TAES.2021.3061819&#x27E9;","raw_type":"Journal articles"},"sustainable_development_goals":[{"score":0.7400000095367432,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1584143882","https://openalex.org/W1996574223","https://openalex.org/W2021233551","https://openalex.org/W2055024316","https://openalex.org/W2077887242","https://openalex.org/W2086238128","https://openalex.org/W2089908769","https://openalex.org/W2095906130","https://openalex.org/W2108032693","https://openalex.org/W2128258307","https://openalex.org/W2333102566","https://openalex.org/W2523052710","https://openalex.org/W2560414423","https://openalex.org/W2563645095","https://openalex.org/W2574761396","https://openalex.org/W2607001947","https://openalex.org/W2615883792","https://openalex.org/W2737391602","https://openalex.org/W2783840519","https://openalex.org/W2790058478","https://openalex.org/W2810678917","https://openalex.org/W2901493688","https://openalex.org/W2995325590","https://openalex.org/W3015014740","https://openalex.org/W3018320691","https://openalex.org/W3081605824","https://openalex.org/W3082130806","https://openalex.org/W3101738542"],"related_works":["https://openalex.org/W2787736607","https://openalex.org/W2471779853","https://openalex.org/W2499415631","https://openalex.org/W4252800133","https://openalex.org/W2566730525","https://openalex.org/W2977322510","https://openalex.org/W3086515615","https://openalex.org/W2562334036","https://openalex.org/W124643895","https://openalex.org/W267574649"],"abstract_inverted_index":{"This":[0],"article":[1,84],"presents":[2],"a":[3,14,36,55,86,118,133,166],"model":[4],"predictive":[5],"control":[6,61,80,89,170],"(MPC)":[7],"controller":[8,34,160],"and":[9,23,42,48,79,100,112,129,135,153],"its":[10],"novel":[11],"application":[12],"to":[13,54,73,126,143],"hybrid":[15],"tilt-quadrotor":[16],"fixed-wing":[17,155],"aircraft,":[18,94],"which":[19],"combines":[20],"vertical":[21],"takeoff":[22],"landing":[24],"(VTOL)":[25],"capabilities":[26],"with":[27,117],"high-speed":[28],"forward":[29],"flight.":[30],"The":[31,76,104,158],"developed":[32,168],"MPC":[33,78,159],"takes":[35],"velocity":[37],"command":[38],"from":[39,124],"the":[40,66,69,144,154],"pilot":[41],"then":[43,64],"computes":[44],"optimal":[45],"attitude":[46,58,71],"setpoints":[47],"propeller-tilt":[49],"angles":[50],"that":[51],"are":[52],"supplied":[53],"fast":[56],"inner":[57,70],"controller.":[59],"A":[60],"allocation":[62,81],"algorithm":[63],"maps":[65],"output":[67],"of":[68,82],"loop":[72],"actuator":[74],"commands.":[75],"proposed":[77],"this":[83],"constitute":[85],"unified":[87],"nonlinear":[88],"approach":[90,106],"for":[91],"tilt-rotor":[92],"VTOL":[93,121],"valid":[95],"in":[96,102,110,113,132,172],"all":[97],"flight":[98,151,156],"modes":[99],"transitions":[101],"between.":[103],"whole":[105],"is":[107],"verified":[108],"both":[109],"simulations":[111],"real-world":[114],"outdoor":[115],"experiments":[116],"remote":[119],"controlled":[120,136],"aircraft":[122],"transitioning":[123],"hover":[125],"high":[127],"speed":[128],"vice":[130],"versa":[131],"stable":[134],"manner.":[137],"Results":[138],"show":[139],"superior":[140],"performance":[141],"compared":[142],"common":[145],"binary-switch":[146],"transition":[147],"strategy":[148],"between":[149],"multicopter":[150],"mode":[152],"mode.":[157],"also":[161],"consistently":[162],"performs":[163],"better":[164],"than":[165],"previously":[167],"fused-PID":[169],"architecture":[171],"our":[173],"tests.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":37},{"year":2024,"cited_by_count":45},{"year":2023,"cited_by_count":23},{"year":2022,"cited_by_count":16},{"year":2021,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
