{"id":"https://openalex.org/W2615785222","doi":"https://doi.org/10.1145/3057039.3057052","title":"Integral Backstepping Control for Quadrotor Helicopters","display_name":"Integral Backstepping Control for Quadrotor Helicopters","publication_year":2017,"publication_date":"2017-02-18","ids":{"openalex":"https://openalex.org/W2615785222","doi":"https://doi.org/10.1145/3057039.3057052","mag":"2615785222"},"language":"en","primary_location":{"id":"doi:10.1145/3057039.3057052","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3057039.3057052","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 9th International Conference on Computer and Automation Engineering","raw_type":"proceedings-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/A5102841071","display_name":"Zhenyue Jia","orcid":"https://orcid.org/0000-0003-4258-2355"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenyue Jia","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066994121","display_name":"Jianqiao Yu","orcid":"https://orcid.org/0000-0002-6346-2961"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianqiao Yu","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047050212","display_name":"Xiaolin Ai","orcid":"https://orcid.org/0000-0001-7943-8336"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolin Ai","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.4081,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.61513752,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"227","last_page":"231"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":1.0,"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":1.0,"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":0.9980000257492065,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9951000213623047,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.9287651181221008},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7971206903457642},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7544212937355042},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6578785181045532},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.55953449010849},{"id":"https://openalex.org/keywords/euler-angles","display_name":"Euler angles","score":0.5491658449172974},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4862038493156433},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.46754470467567444},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4425103962421417},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.42867782711982727},{"id":"https://openalex.org/keywords/nonlinear-control","display_name":"Nonlinear control","score":0.415221631526947},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4146724343299866},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.41214168071746826},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3323051333427429},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25125372409820557},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20266315340995789},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.19154971837997437},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1228986382484436},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10651805996894836},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08355513215065002}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.9287651181221008},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7971206903457642},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7544212937355042},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6578785181045532},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.55953449010849},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.5491658449172974},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4862038493156433},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.46754470467567444},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4425103962421417},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.42867782711982727},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.415221631526947},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4146724343299866},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.41214168071746826},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3323051333427429},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25125372409820557},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20266315340995789},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.19154971837997437},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1228986382484436},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10651805996894836},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08355513215065002},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3057039.3057052","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3057039.3057052","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 9th International Conference on Computer and Automation Engineering","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.8899999856948853,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1256176189","https://openalex.org/W1513713550","https://openalex.org/W1974204180","https://openalex.org/W1990357615","https://openalex.org/W1991755431","https://openalex.org/W2037467395","https://openalex.org/W2068813835","https://openalex.org/W2084447079","https://openalex.org/W2096282629","https://openalex.org/W2138158112","https://openalex.org/W2140913485","https://openalex.org/W2143613953","https://openalex.org/W2165314520","https://openalex.org/W2171541961","https://openalex.org/W2291623206","https://openalex.org/W3083270461","https://openalex.org/W4251229830","https://openalex.org/W4365799935"],"related_works":["https://openalex.org/W1980281239","https://openalex.org/W2989044419","https://openalex.org/W2313373071","https://openalex.org/W2985456365","https://openalex.org/W2466443277","https://openalex.org/W2039235622","https://openalex.org/W2990181534","https://openalex.org/W4309462258","https://openalex.org/W2265298992","https://openalex.org/W3011706881"],"abstract_inverted_index":{"In":[0],"this":[1,83],"paper,":[2],"a":[3,21,46,52,56],"novel":[4],"nonlinear":[5,96],"control":[6,48,67,79,97],"approach":[7,98],"is":[8,32,59,69,85],"designed":[9],"for":[10,71],"the":[11,16,30,36,40,43,78,88,95,110],"quadrotor":[12,31,44],"helicopter":[13],"to":[14],"achieve":[15],"trajectory":[17],"tracking":[18,105],"task":[19],"in":[20,82,104,109],"complex":[22],"battle":[23],"field.":[24],"The":[25,75,91],"6-DOF":[26],"dynamic":[27],"model":[28],"of":[29,42,51,77,112],"introduced":[33],"based":[34],"on":[35],"Newton-Euler":[37],"formula.":[38],"Considering":[39],"characteristic":[41],"dynamics,":[45],"hierarchical":[47],"scheme":[49],"consisting":[50],"translational":[53],"subsystem":[54,58],"and":[55,107],"rotational":[57],"presented.":[60],"Then,":[61],"an":[62,100],"integral":[63],"backstepping":[64],"(integral":[65],"BS)":[66],"strategy":[68],"proposed":[70],"both":[72,103],"two":[73],"subsystems.":[74],"performance":[76],"method":[80],"presented":[81],"paper":[84],"demonstrated":[86],"by":[87],"numerical":[89],"simulations.":[90],"results":[92],"show":[93],"that":[94],"has":[99],"excellent":[101],"capability":[102],"accuracy":[106],"robustness":[108],"presence":[111],"random":[113],"wind":[114],"disturbances.":[115]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}