{"id":"https://openalex.org/W2885327749","doi":"https://doi.org/10.1155/2018/8641731","title":"Mathematical Modeling and Modal Switching Control of a Novel Tiltrotor UAV","display_name":"Mathematical Modeling and Modal Switching Control of a Novel Tiltrotor UAV","publication_year":2018,"publication_date":"2018-08-07","ids":{"openalex":"https://openalex.org/W2885327749","doi":"https://doi.org/10.1155/2018/8641731","mag":"2885327749"},"language":"en","primary_location":{"id":"doi:10.1155/2018/8641731","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2018/8641731","pdf_url":"https://downloads.hindawi.com/journals/jr/2018/8641731.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://downloads.hindawi.com/journals/jr/2018/8641731.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103243463","display_name":"Zhiwei Kong","orcid":"https://orcid.org/0000-0003-0140-6400"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiwei Kong","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037748023","display_name":"Qiang Lu","orcid":"https://orcid.org/0000-0002-1586-5598"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qiang Lu","raw_affiliation_strings":["School of Automation, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-1586-5598","affiliations":[{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5037748023"],"corresponding_institution_ids":["https://openalex.org/I50760025"],"apc_list":{"value":900,"currency":"USD","value_usd":900},"apc_paid":{"value":900,"currency":"USD","value_usd":900},"fwci":1.8728,"has_fulltext":true,"cited_by_count":30,"citation_normalized_percentile":{"value":0.86436529,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"2018","issue":null,"first_page":"1","last_page":"12"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9957000017166138,"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/T12158","display_name":"Guidance and Control Systems","score":0.9945999979972839,"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/airplane","display_name":"Airplane","score":0.6771056652069092},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5845009088516235},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5516336560249329},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5464202761650085},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.4561346173286438},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.44299203157424927},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.4307442605495453},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.4255205988883972},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.41608932614326477},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3002949357032776},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20390111207962036},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2013789415359497},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.0888981819152832},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.06448096036911011},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.05425053834915161}],"concepts":[{"id":"https://openalex.org/C2781407631","wikidata":"https://www.wikidata.org/wiki/Q197","display_name":"Airplane","level":2,"score":0.6771056652069092},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5845009088516235},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5516336560249329},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5464202761650085},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.4561346173286438},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.44299203157424927},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.4307442605495453},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.4255205988883972},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.41608932614326477},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3002949357032776},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20390111207962036},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2013789415359497},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.0888981819152832},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.06448096036911011},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.05425053834915161},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1155/2018/8641731","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2018/8641731","pdf_url":"https://downloads.hindawi.com/journals/jr/2018/8641731.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:ccba4207017448a4b3f84d74819aa6b2","is_oa":false,"landing_page_url":"https://doaj.org/article/ccba4207017448a4b3f84d74819aa6b2","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Robotics, Vol 2018 (2018)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2018/8641731","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2018/8641731","pdf_url":"https://downloads.hindawi.com/journals/jr/2018/8641731.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1500589456","display_name":null,"funder_award_id":"LY18F030008","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3424167220","display_name":null,"funder_award_id":"LY18F030008","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"},{"id":"https://openalex.org/G369061595","display_name":null,"funder_award_id":"61375104","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4291734321","display_name":null,"funder_award_id":"61375104","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2885327749.pdf","grobid_xml":"https://content.openalex.org/works/W2885327749.grobid-xml"},"referenced_works_count":8,"referenced_works":["https://openalex.org/W1818971493","https://openalex.org/W1967566180","https://openalex.org/W1973316765","https://openalex.org/W1977277930","https://openalex.org/W2025377007","https://openalex.org/W2066719315","https://openalex.org/W2460226117","https://openalex.org/W2524340478"],"related_works":["https://openalex.org/W2771027241","https://openalex.org/W1765905465","https://openalex.org/W2793080664","https://openalex.org/W2186140227","https://openalex.org/W2534185822","https://openalex.org/W2132535444","https://openalex.org/W2367651125","https://openalex.org/W2387936656","https://openalex.org/W2063297487","https://openalex.org/W2567073787"],"abstract_inverted_index":{"This":[0,15],"paper":[1],"concentrates":[2],"on":[3,127,171],"the":[4,28,37,47,52,56,87,93,105,110,116,143,148,156,159,163,175],"flight":[5,21,67,138,149,165],"control":[6,120,124,160],"of":[7,17,30,49,72,107,158],"a":[8,24,42,74,133],"novel":[9,75],"tiltrotor":[10,76,90],"aircraft":[11,18,38,53,77,173],"with":[12],"fixed":[13],"wings.":[14],"kind":[16],"has":[19,167],"two":[20,66],"modes":[22],"and":[23,34,92,109,115,174],"transition":[25,61,81,135],"mode.":[26,59],"In":[27,69],"phase":[29,48,106],"vertical":[31,137,164],"take":[32],"off":[33],"landing":[35],"(VTOL),":[36],"can":[39],"operate":[40],"as":[41],"quadrotor":[43],"helicopter.":[44],"And":[45,142],"in":[46,55],"horizontal":[50,140],"flight,":[51],"is":[54,63,83],"normal":[57],"airplane":[58],"The":[60,98],"mode":[62,82,150],"between":[64],"these":[65],"modes.":[68],"this":[70],"part":[71],"work,":[73],"was":[78,96,102,129,177],"presented":[79],"since":[80],"achieved":[84],"by":[85],"tilting":[86],"front":[88],"dual":[89],"(DTR)":[91],"mathematical":[94],"model":[95],"established.":[97],"classical":[99],"PID":[100],"method":[101],"used":[103],"during":[104],"VTOL":[108],"numerical":[111,144],"results":[112,145],"were":[113],"given":[114],"simulation":[117],"shows":[118,155],"good":[119],"effect.":[121],"A":[122],"nonlinear":[123],"law":[125],"based":[126],"backstepping":[128],"proposed":[130],"to":[131,139],"achieve":[132],"stable":[134],"from":[136],"flight.":[141],"show":[146],"that":[147],"could":[151],"transit":[152],"stably":[153],"which":[154],"effectiveness":[157],"approach.":[161],"Finally,":[162],"experiment":[166],"been":[168],"carried":[169],"out":[170],"DTR":[172],"attitude":[176],"stable.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":6}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
