{"id":"https://openalex.org/W2104360177","doi":"https://doi.org/10.23919/acc.2004.1383989","title":"Control of a laboratory helicopter using switched 2-step feedback linearization","display_name":"Control of a laboratory helicopter using switched 2-step feedback linearization","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2104360177","doi":"https://doi.org/10.23919/acc.2004.1383989","mag":"2104360177"},"language":"en","primary_location":{"id":"doi:10.23919/acc.2004.1383989","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2004.1383989","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2004 American Control Conference","raw_type":"proceedings-article"},"type":"conference-paper","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":null,"display_name":"M. Lopez-Martinez","orcid":null},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"M. Lopez-Martinez","raw_affiliation_strings":["Escuela Superior de Ingenieros, Universidad de Sevilla, Seville, Spain","Escuela Superior de Ingenieros, Seville Univ., Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Escuela Superior de Ingenieros, Universidad de Sevilla, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]},{"raw_affiliation_string":"Escuela Superior de Ingenieros, Seville Univ., Spain","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075166111","display_name":"J.M. D\u00edaz","orcid":"https://orcid.org/0000-0002-5052-123X"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J.M. Diaz","raw_affiliation_strings":["Escuela Superior de Ingenieros, Universidad de Sevilla, Seville, Spain","Escuela Superior de Ingenieros, Seville Univ., Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Escuela Superior de Ingenieros, Universidad de Sevilla, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]},{"raw_affiliation_string":"Escuela Superior de Ingenieros, Seville Univ., Spain","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075060684","display_name":"Manuel G. Ortega","orcid":"https://orcid.org/0000-0002-5463-2455"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"M.G. Ortega","raw_affiliation_strings":["Escuela Superior de Ingenieros, Universidad de Sevilla, Seville, Spain","Escuela Superior de Ingenieros, Seville Univ., Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Escuela Superior de Ingenieros, Universidad de Sevilla, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]},{"raw_affiliation_string":"Escuela Superior de Ingenieros, Seville Univ., Spain","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066798477","display_name":"Francisco R. Rubio","orcid":"https://orcid.org/0000-0003-0494-6533"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"F.R. Rubio","raw_affiliation_strings":["Escuela Superior de Ingenieros, Universidad de Sevilla, Seville, Spain","Escuela Superior de Ingenieros, Seville Univ., Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Escuela Superior de Ingenieros, Universidad de Sevilla, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]},{"raw_affiliation_string":"Escuela Superior de Ingenieros, Seville Univ., Spain","institution_ids":["https://openalex.org/I79238269"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I79238269"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4330","last_page":"4335 vol.5"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9962000250816345,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9911999702453613,"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":0.8723546266555786},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.8545310497283936},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.7881195545196533},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6390310525894165},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6015535593032837},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.5488473176956177},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4712270498275757},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.4618358612060547},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44875606894493103},{"id":"https://openalex.org/keywords/nonlinear-control","display_name":"Nonlinear control","score":0.43536508083343506},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4013729393482208},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.333873450756073},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10112348198890686}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8723546266555786},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.8545310497283936},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.7881195545196533},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6390310525894165},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6015535593032837},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.5488473176956177},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4712270498275757},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.4618358612060547},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44875606894493103},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.43536508083343506},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4013729393482208},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.333873450756073},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10112348198890686},{"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/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc.2004.1383989","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2004.1383989","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2004 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8399999737739563,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W645979858","https://openalex.org/W1538779442","https://openalex.org/W1561445488","https://openalex.org/W1562639478","https://openalex.org/W1619551699","https://openalex.org/W1887006513","https://openalex.org/W1988560433","https://openalex.org/W2101116544","https://openalex.org/W3160954918"],"related_works":["https://openalex.org/W2349527210","https://openalex.org/W1998462347","https://openalex.org/W1836713364","https://openalex.org/W2131265573","https://openalex.org/W2899783744","https://openalex.org/W2964841342","https://openalex.org/W4300511988","https://openalex.org/W2381676799","https://openalex.org/W2088134843","https://openalex.org/W2912982761"],"abstract_inverted_index":{"A":[0,47],"control":[1,36,49],"structure":[2],"based":[3],"on":[4,23],"feedback":[5,60],"(input-output)":[6],"linearization":[7,56,61],"has":[8,62,81],"been":[9,63,82],"applied":[10,64],"to":[11,69,75],"the":[12,24,33,41,70,76],"longitudinal":[13,25],"subsystem":[14,26],"of":[15,35,43,45],"a":[16],"laboratory":[17],"double-rotor":[18],"helicopter.":[19],"This":[20,79],"article":[21],"focuses":[22],"which":[27],"is":[28,38,57],"underactuated":[29],"in":[30,65],"sense":[31],"that":[32],"number":[34,42],"variables":[37],"less":[39],"than":[40],"degrees":[44],"freedom.":[46],"switching":[48],"law":[50,80],"between":[51],"exact":[52],"and":[53,73,86],"approximate":[54],"input-output":[55],"proposed.":[58],"The":[59],"two":[66],"steps,":[67],"first":[68],"nonlinear":[71],"actuator,":[72],"then":[74],"entire":[77],"system.":[78],"tested":[83],"by":[84],"simulated":[85],"experimental":[87],"results.":[88]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
