{"id":"https://openalex.org/W4368372582","doi":"https://doi.org/10.1142/s2301385024500341","title":"Heli-Quad Design for Full-Attitude Fault-Tolerant Control Under Complete Failure of an Actuator","display_name":"Heli-Quad Design for Full-Attitude Fault-Tolerant Control Under Complete Failure of an Actuator","publication_year":2023,"publication_date":"2023-05-04","ids":{"openalex":"https://openalex.org/W4368372582","doi":"https://doi.org/10.1142/s2301385024500341"},"language":"en","primary_location":{"id":"doi:10.1142/s2301385024500341","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1142/s2301385024500341","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","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/A5023531924","display_name":"Eeshan Kulkarni","orcid":"https://orcid.org/0000-0002-1749-9050"},"institutions":[{"id":"https://openalex.org/I59270414","display_name":"Indian Institute of Science Bangalore","ror":"https://ror.org/04dese585","country_code":"IN","type":"education","lineage":["https://openalex.org/I59270414"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Eeshan Kulkarni","raw_affiliation_strings":["Department of Aerospace Engineering, Indian Institute of Science, C. V. Raman Road, Bangalore 560012, Karnataka, India"],"raw_orcid":"https://orcid.org/0000-0002-1749-9050","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Indian Institute of Science, C. V. Raman Road, Bangalore 560012, Karnataka, India","institution_ids":["https://openalex.org/I59270414"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080692534","display_name":"N. Sundararajan","orcid":"https://orcid.org/0000-0002-6972-8775"},"institutions":[{"id":"https://openalex.org/I59270414","display_name":"Indian Institute of Science Bangalore","ror":"https://ror.org/04dese585","country_code":"IN","type":"education","lineage":["https://openalex.org/I59270414"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Narasimhan Sundararajan","raw_affiliation_strings":["Department of Aerospace Engineering, Indian Institute of Science, C. V. Raman Road, Bangalore 560012, Karnataka, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Indian Institute of Science, C. V. Raman Road, Bangalore 560012, Karnataka, India","institution_ids":["https://openalex.org/I59270414"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100765440","display_name":"Suresh Sundaram","orcid":"https://orcid.org/0000-0001-6275-0921"},"institutions":[{"id":"https://openalex.org/I59270414","display_name":"Indian Institute of Science Bangalore","ror":"https://ror.org/04dese585","country_code":"IN","type":"education","lineage":["https://openalex.org/I59270414"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Suresh Sundaram","raw_affiliation_strings":["Department of Aerospace Engineering, Indian Institute of Science, C. V. Raman Road, Bangalore 560012, Karnataka, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Indian Institute of Science, C. V. Raman Road, Bangalore 560012, Karnataka, India","institution_ids":["https://openalex.org/I59270414"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5023531924"],"corresponding_institution_ids":["https://openalex.org/I59270414"],"apc_list":null,"apc_paid":null,"fwci":0.3494,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.5582795,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"12","issue":"06","first_page":"1001","last_page":"1022"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9883999824523926,"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":0.9883999824523926,"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/T12158","display_name":"Guidance and Control Systems","score":0.9817000031471252,"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/T12125","display_name":"Aerospace and Aviation Technology","score":0.9794999957084656,"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/airfoil","display_name":"Airfoil","score":0.804015040397644},{"id":"https://openalex.org/keywords/propeller","display_name":"Propeller","score":0.7626262903213501},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7281674146652222},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6713513135910034},{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.6069785952568054},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.584839940071106},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5274047255516052},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.4761659801006317},{"id":"https://openalex.org/keywords/blade-pitch","display_name":"Blade pitch","score":0.4312770366668701},{"id":"https://openalex.org/keywords/flight-control-surfaces","display_name":"Flight control surfaces","score":0.4146914482116699},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.41208416223526},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3624412417411804},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.35447824001312256},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.3487904667854309},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.32155007123947144},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21931186318397522},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.21257776021957397},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.11870548129081726},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08986693620681763},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.07098567485809326},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.06688797473907471}],"concepts":[{"id":"https://openalex.org/C112124176","wikidata":"https://www.wikidata.org/wiki/Q4698744","display_name":"Airfoil","level":2,"score":0.804015040397644},{"id":"https://openalex.org/C80055088","wikidata":"https://www.wikidata.org/wiki/Q205451","display_name":"Propeller","level":2,"score":0.7626262903213501},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7281674146652222},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6713513135910034},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.6069785952568054},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.584839940071106},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5274047255516052},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.4761659801006317},{"id":"https://openalex.org/C97683284","wikidata":"https://www.wikidata.org/wiki/Q1134697","display_name":"Blade pitch","level":3,"score":0.4312770366668701},{"id":"https://openalex.org/C197231348","wikidata":"https://www.wikidata.org/wiki/Q1705284","display_name":"Flight control surfaces","level":3,"score":0.4146914482116699},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.41208416223526},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3624412417411804},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.35447824001312256},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.3487904667854309},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.32155007123947144},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21931186318397522},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.21257776021957397},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.11870548129081726},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08986693620681763},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.07098567485809326},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.06688797473907471},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"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/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1142/s2301385024500341","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1142/s2301385024500341","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","raw_type":"journal-article"},{"id":"pmh:oai::82743","is_oa":false,"landing_page_url":"https://eprints.iisc.ac.in/82743/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401429","display_name":"ePrints@IISc (Indian Institute of Science)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I59270414","host_organization_name":"Indian Institute of Science Bangalore","host_organization_lineage":["https://openalex.org/I59270414"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1530810621","https://openalex.org/W1926196168","https://openalex.org/W1978150223","https://openalex.org/W2031850322","https://openalex.org/W2054994117","https://openalex.org/W2062803637","https://openalex.org/W2103608534","https://openalex.org/W2274553213","https://openalex.org/W2414767203","https://openalex.org/W2516883896","https://openalex.org/W2555041734","https://openalex.org/W2766201507","https://openalex.org/W2771926486","https://openalex.org/W2781809834","https://openalex.org/W2802042887","https://openalex.org/W2803359865","https://openalex.org/W2809961337","https://openalex.org/W2893322488","https://openalex.org/W2895553158","https://openalex.org/W2901106272","https://openalex.org/W2908367008","https://openalex.org/W2908812596","https://openalex.org/W2915105199","https://openalex.org/W2963672919","https://openalex.org/W3008740476","https://openalex.org/W3099629894","https://openalex.org/W3152494138","https://openalex.org/W3160562841","https://openalex.org/W3174385886","https://openalex.org/W3201584109","https://openalex.org/W3203283705","https://openalex.org/W3214819670"],"related_works":["https://openalex.org/W4293565951","https://openalex.org/W3215614988","https://openalex.org/W1500394441","https://openalex.org/W643700433","https://openalex.org/W2017965189","https://openalex.org/W4312713555","https://openalex.org/W2998263720","https://openalex.org/W4297491188","https://openalex.org/W3184644548","https://openalex.org/W2534027013"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,11,22,32,40,75,104,110,117],"reliable":[4],"variable":[5],"pitch":[6],"propeller":[7,14,37,131],"(VPP)":[8],"quadcopter":[9],"with":[10,88],"cambered":[12,33,59],"airfoil":[13,34,60,68],"called":[15],"Heli-quad":[16,192],"that":[17,57,86,124,177],"achieves":[18],"full-attitude":[19,95],"control":[20,47,72,121],"under":[21,48,74,179],"complete":[23,76,181],"failure":[24,50,77,182],"of":[25,30,51,78,103,183,190],"one":[26,184],"actuator.":[27,53,80],"The":[28,81,97,174],"idea":[29],"employing":[31],"in":[35,43,165],"the":[36,44,49,58,126,139,146,154,158,161,180,186,191],"blade":[38],"plays":[39],"pivotal":[41],"role":[42],"full":[45],"attitude":[46,114],"an":[52,79],"Experimental":[54],"data":[55,133],"shows":[56],"propellers":[61],"generate":[62],"significantly":[63],"higher":[64],"torque":[65],"than":[66],"symmetric":[67],"propellers,":[69],"enabling":[70],"yaw":[71],"even":[73,178],"theoretical":[82],"analysis":[83],"clearly":[84],"indicates":[85],"Heli-Quad":[87],"three":[89],"actuators":[90],"is":[91,171,193],"sufficient":[92],"to":[93,137,152,195],"provide":[94],"control.":[96],"proposed":[98],"unified":[99],"fault-tolerant":[100],"controller":[101],"consists":[102],"outer":[105],"loop":[106,113],"position":[107,187],"tracking":[108,188],"controller,":[109,115],"proportional-derivative":[111],"inner":[112],"and":[116,168],"novel":[118],"neural-network-based":[119],"reconfigurable":[120],"allocation":[122],"scheme":[123],"computes":[125],"actuator":[127],"commands.":[128],"Experimentally":[129],"validated":[130],"aerodynamic":[132],"has":[134],"been":[135],"used":[136],"train":[138],"neural":[140],"network.":[141],"High-fidelity":[142],"software-in-the-loop":[143],"simulations":[144],"using":[145],"SIMSCAPE":[147],"environment":[148],"are":[149],"carried":[150],"out":[151],"analyze":[153],"Heli-quad\u2019s":[155],"performance.":[156],"From":[157],"empirical":[159],"result,":[160],"maximum":[162],"tolerable":[163],"delay":[164],"Fault":[166],"Detection":[167],"Isolation":[169],"(FDI)":[170],"180":[172],"ms.":[173],"results":[175],"indicate":[176],"actuator,":[185],"performance":[189],"closer":[194],"nominal":[196],"conditions.":[197]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}