{"id":"https://openalex.org/W2944038841","doi":"https://doi.org/10.1177/0142331219842323","title":"An internal model frame-based disturbance attenuation control scheme for quad-rotors transporting unknown payloads","display_name":"An internal model frame-based disturbance attenuation control scheme for quad-rotors transporting unknown payloads","publication_year":2019,"publication_date":"2019-05-09","ids":{"openalex":"https://openalex.org/W2944038841","doi":"https://doi.org/10.1177/0142331219842323","mag":"2944038841"},"language":"en","primary_location":{"id":"doi:10.1177/0142331219842323","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0142331219842323","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","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/A5088333603","display_name":"Hongda Li","orcid":"https://orcid.org/0000-0002-6854-8369"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongda Li","raw_affiliation_strings":["College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, PR China"],"affiliations":[{"raw_affiliation_string":"College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, PR China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100344805","display_name":"Yuan Wang","orcid":"https://orcid.org/0000-0001-5752-1972"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuan Wang","raw_affiliation_strings":["College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, PR China"],"affiliations":[{"raw_affiliation_string":"College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, PR China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060987992","display_name":"Zhiwei Shi","orcid":"https://orcid.org/0000-0001-8795-5093"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhiwei Shi","raw_affiliation_strings":["College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, PR China"],"affiliations":[{"raw_affiliation_string":"College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, PR China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001267041","display_name":"Min Chang","orcid":"https://orcid.org/0000-0002-4347-4121"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Chang","raw_affiliation_strings":["Unmanned System Research Institute, Northwestern Polytechnical University, Xi\u2019an, PR China","Unmanned System Research Institute, Northwestern Polytechnical University, Xi'an, PR China"],"affiliations":[{"raw_affiliation_string":"Unmanned System Research Institute, Northwestern Polytechnical University, Xi\u2019an, PR China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"Unmanned System Research Institute, Northwestern Polytechnical University, Xi'an, PR China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5060987992"],"corresponding_institution_ids":["https://openalex.org/I9842412"],"apc_list":null,"apc_paid":null,"fwci":1.3446,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.80796883,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"41","issue":"14","first_page":"3991","last_page":"4000"},"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9932000041007996,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9915000200271606,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.8387165069580078},{"id":"https://openalex.org/keywords/attenuation","display_name":"Attenuation","score":0.6855233907699585},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.676826000213623},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.6690365076065063},{"id":"https://openalex.org/keywords/internal-model","display_name":"Internal model","score":0.6533089876174927},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5758841037750244},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.49483722448349},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.47423073649406433},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4568011462688446},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.44238805770874023},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4336436986923218},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40369656682014465},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3871743083000183},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1657538115978241},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09213906526565552},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07214489579200745}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8387165069580078},{"id":"https://openalex.org/C184652730","wikidata":"https://www.wikidata.org/wiki/Q2357982","display_name":"Attenuation","level":2,"score":0.6855233907699585},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.676826000213623},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.6690365076065063},{"id":"https://openalex.org/C28427503","wikidata":"https://www.wikidata.org/wiki/Q13580300","display_name":"Internal model","level":3,"score":0.6533089876174927},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5758841037750244},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.49483722448349},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.47423073649406433},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4568011462688446},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.44238805770874023},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4336436986923218},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40369656682014465},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3871743083000183},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1657538115978241},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09213906526565552},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07214489579200745},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0142331219842323","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0142331219842323","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W113770795","https://openalex.org/W1492106702","https://openalex.org/W1515929625","https://openalex.org/W1547611158","https://openalex.org/W1836176560","https://openalex.org/W1969045397","https://openalex.org/W1977319619","https://openalex.org/W1986116249","https://openalex.org/W1988718129","https://openalex.org/W2019149755","https://openalex.org/W2050663955","https://openalex.org/W2149683585","https://openalex.org/W2287955039","https://openalex.org/W2337020052","https://openalex.org/W2489244977","https://openalex.org/W2600133379","https://openalex.org/W2738908764","https://openalex.org/W2747628967","https://openalex.org/W2756394884","https://openalex.org/W2762056475","https://openalex.org/W2789991917","https://openalex.org/W2889055133","https://openalex.org/W2897641747"],"related_works":["https://openalex.org/W2038604956","https://openalex.org/W2296560746","https://openalex.org/W2338222801","https://openalex.org/W2347583731","https://openalex.org/W2062605435","https://openalex.org/W2106602008","https://openalex.org/W2067832159","https://openalex.org/W2153353177","https://openalex.org/W2953358686","https://openalex.org/W2294659156"],"abstract_inverted_index":{"The":[0],"path":[1],"following":[2],"control":[3,10,36,84],"of":[4],"quad-rotors":[5],"transporting":[6,66],"uncertain":[7],"payloads,":[8],"whose":[9],"system":[11,56],"is":[12,26,44,57,63,91],"featured":[13],"with":[14],"time-variation,":[15],"high":[16],"nonlinearity":[17],"and":[18,24],"strong":[19],"couplings":[20],"among":[21],"state":[22],"variables":[23],"inputs,":[25],"investigated.":[27],"Targeting":[28],"this,":[29],"an":[30],"internal":[31,88],"model":[32,42,89],"frame-based":[33],"disturbance":[34,49,100],"attenuation":[35],"scheme":[37,85],"that":[38],"requires":[39],"only":[40],"rough":[41],"information":[43],"proposed.":[45,58],"Firstly,":[46],"a":[47],"novel":[48],"estimator":[50],"(DE)":[51],"for":[52,79],"general":[53],"single-input-single-output":[54],"(SISO)":[55],"Secondly,":[59],"the":[60,73,77,83,96],"DE":[61],"proposed":[62],"applied":[64],"in":[65],"unknown":[67],"payloads":[68,78],"by":[69,76],"quad-rotors,":[70],"to":[71,93],"estimate":[72],"disturbances":[74,98],"caused":[75],"feedback":[80],"compensation.":[81],"Lastly,":[82],"based":[86],"on":[87],"frame":[90],"designed":[92],"further":[94],"reduce":[95],"remaining":[97],"from":[99],"estimation":[101],"error.":[102]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6}],"updated_date":"2026-03-25T14:56:36.534964","created_date":"2025-10-10T00:00:00"}