{"id":"https://openalex.org/W2735984550","doi":"https://doi.org/10.23919/acc.2017.7963067","title":"Feedback tracking control schemes for a class of underactuated vehicles in SE(3)","display_name":"Feedback tracking control schemes for a class of underactuated vehicles in SE(3)","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2735984550","doi":"https://doi.org/10.23919/acc.2017.7963067","mag":"2735984550"},"language":"en","primary_location":{"id":"doi:10.23919/acc.2017.7963067","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2017.7963067","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 American Control Conference (ACC)","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/A5010222753","display_name":"Rakesh R. Warier","orcid":"https://orcid.org/0000-0002-3396-0441"},"institutions":[{"id":"https://openalex.org/I162827531","display_name":"Indian Institute of Technology Bombay","ror":"https://ror.org/02qyf5152","country_code":"IN","type":"education","lineage":["https://openalex.org/I162827531"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Rakesh R. Warier","raw_affiliation_strings":["Department of Systems and Control Engineering, Indian Institute of Technology Bombay, Mumbai, India"],"affiliations":[{"raw_affiliation_string":"Department of Systems and Control Engineering, Indian Institute of Technology Bombay, Mumbai, India","institution_ids":["https://openalex.org/I162827531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079524565","display_name":"Amit K. Sanyal","orcid":"https://orcid.org/0000-0002-3258-7841"},"institutions":[{"id":"https://openalex.org/I70983195","display_name":"Syracuse University","ror":"https://ror.org/025r5qe02","country_code":"US","type":"education","lineage":["https://openalex.org/I70983195"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amit K. Sanyal","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Syracuse University, Syracuse, NY, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Syracuse University, Syracuse, NY, USA","institution_ids":["https://openalex.org/I70983195"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027791142","display_name":"Srikant Sukumar","orcid":"https://orcid.org/0000-0001-8279-485X"},"institutions":[{"id":"https://openalex.org/I162827531","display_name":"Indian Institute of Technology Bombay","ror":"https://ror.org/02qyf5152","country_code":"IN","type":"education","lineage":["https://openalex.org/I162827531"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Srikant Sukumar","raw_affiliation_strings":["Indian Institute of Technology Bombay, Mumbai, Maharashtra, IN"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Bombay, Mumbai, Maharashtra, IN","institution_ids":["https://openalex.org/I162827531"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039435200","display_name":"Sasi Prabhakaran Viswanathan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sasi Prabhakaran Viswanathan","raw_affiliation_strings":["Akrobotix LLC, Syracuse, NY, USA"],"affiliations":[{"raw_affiliation_string":"Akrobotix LLC, Syracuse, NY, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5010222753"],"corresponding_institution_ids":["https://openalex.org/I162827531"],"apc_list":null,"apc_paid":null,"fwci":1.0058,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.772381,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"899","last_page":"904"},"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":0.9993000030517578,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9968000054359436,"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/underactuation","display_name":"Underactuation","score":0.9365956783294678},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8181861639022827},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.6744572520256042},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.6131652593612671},{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.5760555267333984},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.567206084728241},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5432376861572266},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.5177116394042969},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.48740652203559875},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.45389413833618164},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.4496026635169983},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44175440073013306},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.42975980043411255},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.42051243782043457},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2691500186920166},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20825958251953125},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.20574980974197388},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1572442352771759},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14860749244689941},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.10754996538162231},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10233113169670105},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08759686350822449}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.9365956783294678},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8181861639022827},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.6744572520256042},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.6131652593612671},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.5760555267333984},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.567206084728241},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5432376861572266},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.5177116394042969},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.48740652203559875},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.45389413833618164},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.4496026635169983},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44175440073013306},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.42975980043411255},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.42051243782043457},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2691500186920166},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20825958251953125},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.20574980974197388},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1572442352771759},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14860749244689941},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.10754996538162231},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10233113169670105},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08759686350822449},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc.2017.7963067","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2017.7963067","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.4399999976158142,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W160538475","https://openalex.org/W1787749442","https://openalex.org/W1970523897","https://openalex.org/W1998736187","https://openalex.org/W2109656638","https://openalex.org/W2139799964","https://openalex.org/W2142424817","https://openalex.org/W2142577696","https://openalex.org/W2149176325","https://openalex.org/W2150749340","https://openalex.org/W2169695004","https://openalex.org/W2171541961","https://openalex.org/W2263117210","https://openalex.org/W2333915945","https://openalex.org/W2569263255","https://openalex.org/W2964066290","https://openalex.org/W2964221158","https://openalex.org/W3009174982","https://openalex.org/W4240460525","https://openalex.org/W6606518229","https://openalex.org/W6650158948"],"related_works":["https://openalex.org/W4293056360","https://openalex.org/W4386804942","https://openalex.org/W2966028239","https://openalex.org/W2264340699","https://openalex.org/W4312713555","https://openalex.org/W2899893118","https://openalex.org/W2018431869","https://openalex.org/W2041791488","https://openalex.org/W2077865188","https://openalex.org/W1998511116"],"abstract_inverted_index":{"A":[0,178],"trajectory":[1],"tracking":[2,107,155,192],"control":[3,25,35,129,156,176,193],"scheme":[4,67,157,194],"for":[5],"a":[6,20,30,71],"class":[7,94],"of":[8,52,61,70,74,95,104,112,135,147,164,172,180,188],"underactuated":[9,15,57,96],"vehicles":[10,75,90],"is":[11,17,27,56,68,121,158,195],"presented":[12],"here.":[13],"The":[14,46,131,162],"vehicle":[16],"modeled":[18],"as":[19,77],"rigid":[21,54],"body":[22,55],"to":[23,117,123,144,168],"which":[24],"thrust":[26,119],"applied":[28,39],"along":[29,40],"single":[31],"body-fixed":[32,43],"axis":[33],"and":[34,49,80,86],"torque":[36],"can":[37],"be":[38,124],"all":[41],"three":[42],"coordinate":[44],"axes.":[45],"combined":[47],"rotational":[48],"translational":[50],"motion":[51],"the":[53,59,98,105,110,113,118,127,136,148,173,186,189],"with":[58],"degree":[60],"underactuation":[62],"two.":[63],"Such":[64],"an":[65],"actuation":[66],"reflective":[69],"wide":[72],"range":[73],"such":[76],"vertical":[78],"take-off":[79],"landing":[81],"(VTOL)":[82],"aircraft,":[83,85],"fixed-wing":[84],"quadcopter":[87],"uncrewed":[88],"aerial":[89],"(UAVs).":[91],"For":[92],"this":[93,152],"vehicles,":[97],"proposed":[99,128],"controller":[100],"gives":[101],"exponential":[102,145,170],"stabilization":[103,146],"position":[106,150],"error.":[108],"Additionally,":[109],"component":[111],"angular":[114,137,153],"velocity":[115,138,154],"parallel":[116],"direction,":[120],"regulated":[122],"zero":[125],"under":[126],"scheme.":[130,177],"other":[132],"two":[133],"components":[134],"track":[139],"desired":[140,149],"profiles":[141],"that":[142,184],"lead":[143],"trajectory;":[151],"finite":[159],"time":[160],"stable.":[161],"combination":[163],"these":[165],"schemes":[166],"leads":[167],"guaranteed":[169],"stability":[171],"overall":[174,190],"feedback":[175,191],"set":[179],"numerical":[181],"simulation":[182],"results":[183],"illustrate":[185],"performance":[187],"provided.":[196]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
