{"id":"https://openalex.org/W2973060330","doi":"https://doi.org/10.23919/acc.2019.8814632","title":"A Singularity-free Hierarchical Nonlinear Quad-Rotorcraft Control using Saturation and Barrier Lyapunov Function","display_name":"A Singularity-free Hierarchical Nonlinear Quad-Rotorcraft Control using Saturation and Barrier Lyapunov Function","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2973060330","doi":"https://doi.org/10.23919/acc.2019.8814632","mag":"2973060330"},"language":"en","primary_location":{"id":"doi:10.23919/acc.2019.8814632","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2019.8814632","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5101642900","display_name":"Ranjan Dasgupta","orcid":"https://orcid.org/0000-0002-6747-9015"},"institutions":[{"id":"https://openalex.org/I55215948","display_name":"Tata Consultancy Services (India)","ror":"https://ror.org/01b9n8m42","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210086519","https://openalex.org/I55215948"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Ranjan Dasgupta","raw_affiliation_strings":["Tata Consultancy Services Limited, Innovation Lab, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tata Consultancy Services Limited, Innovation Lab, India","institution_ids":["https://openalex.org/I55215948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050040522","display_name":"Sayan Basu Roy","orcid":"https://orcid.org/0000-0002-2537-2957"},"institutions":[{"id":"https://openalex.org/I119939252","display_name":"Indraprastha Institute of Information Technology Delhi","ror":"https://ror.org/03vfp4g33","country_code":"IN","type":"education","lineage":["https://openalex.org/I119939252"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Sayan Basu Roy","raw_affiliation_strings":["Department of Electronics and Communication Engineering, Indraprastha Institute of Information Technology Delhi, New Delhi, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics and Communication Engineering, Indraprastha Institute of Information Technology Delhi, New Delhi, India","institution_ids":["https://openalex.org/I119939252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069650953","display_name":"Omkar Sudhir Patil","orcid":"https://orcid.org/0000-0002-3820-2025"},"institutions":[{"id":"https://openalex.org/I68891433","display_name":"Indian Institute of Technology Delhi","ror":"https://ror.org/049tgcd06","country_code":"IN","type":"education","lineage":["https://openalex.org/I68891433"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Omkar Sudhir Patil","raw_affiliation_strings":["Department of Electrical Engineering, Indian Institute of Technology Delhi, New Delhi, Iudia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Indian Institute of Technology Delhi, New Delhi, Iudia","institution_ids":["https://openalex.org/I68891433"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034219830","display_name":"Shubhendu Bhasin","orcid":"https://orcid.org/0000-0002-8002-9684"},"institutions":[{"id":"https://openalex.org/I68891433","display_name":"Indian Institute of Technology Delhi","ror":"https://ror.org/049tgcd06","country_code":"IN","type":"education","lineage":["https://openalex.org/I68891433"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Shubhendu Bhasin","raw_affiliation_strings":["Department of Electrical Engineering, Indian Institute of Technology Delhi, New Delhi, Iudia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Indian Institute of Technology Delhi, New Delhi, Iudia","institution_ids":["https://openalex.org/I68891433"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0117,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.77168898,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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":0.998199999332428,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9980000257492065,"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":0.8172751665115356},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.6080312132835388},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5797222852706909},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5530251264572144},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4812174141407013},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.46900248527526855},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.45859068632125854},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.45189169049263},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.42591696977615356},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.42310744524002075},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.33389681577682495},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.291564017534256},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22300437092781067},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.16942188143730164},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.13161316514015198},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11298215389251709},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08228972554206848}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8172751665115356},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.6080312132835388},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5797222852706909},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5530251264572144},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4812174141407013},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.46900248527526855},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.45859068632125854},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.45189169049263},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.42591696977615356},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.42310744524002075},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.33389681577682495},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.291564017534256},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22300437092781067},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.16942188143730164},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.13161316514015198},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11298215389251709},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08228972554206848},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc.2019.8814632","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2019.8814632","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1576721254","https://openalex.org/W1996454263","https://openalex.org/W2014929024","https://openalex.org/W2019271926","https://openalex.org/W2030013173","https://openalex.org/W2035084073","https://openalex.org/W2035475156","https://openalex.org/W2040060055","https://openalex.org/W2057196142","https://openalex.org/W2057826826","https://openalex.org/W2062373349","https://openalex.org/W2063554272","https://openalex.org/W2066133236","https://openalex.org/W2093597151","https://openalex.org/W2100546477","https://openalex.org/W2109656638","https://openalex.org/W2341206624","https://openalex.org/W2588276213","https://openalex.org/W2588951961","https://openalex.org/W2912178359"],"related_works":["https://openalex.org/W1847613412","https://openalex.org/W2972367213","https://openalex.org/W4382203996","https://openalex.org/W3177256865","https://openalex.org/W2378628179","https://openalex.org/W2382713386","https://openalex.org/W1973298112","https://openalex.org/W2392266503","https://openalex.org/W2372856383","https://openalex.org/W2951163365"],"abstract_inverted_index":{"A":[0,20,105],"singularity-free":[1,131],"nonlinear":[2,45],"hierarchical":[3,132],"control":[4,12,22,128,133],"framework":[5],"is":[6,28,53,65,103,115],"proposed":[7,168],"in":[8,62,125,147],"this":[9],"paper":[10],"for":[11,30],"of":[13,44,58,75,83,149,166],"a":[14,88],"quad-rotorcraft":[15],"unmanned":[16],"aerial":[17],"vehicle":[18],"(UAV).":[19],"saturation":[21],"scheme":[23],"with":[24,98,152,158],"hyperbolic":[25],"tangent":[26,69],"function":[27,70,96],"designed":[29],"the":[31,42,48,73,77,81,111,121,126,140,164,167],"position":[32,49],"loop":[33,91],"controller":[34,92],"to":[35],"ensure":[36],"non-singular":[37,89],"command":[38],"attitude":[39,51,64,86,90],"extraction":[40],"and":[41,50,119,135,155],"effect":[43],"coupling":[46],"between":[47],"subsystem":[52],"subsequently":[54],"analyzed.":[55],"The":[56,130],"problem":[57,82],"sign-ambiguity":[59],"commonly":[60],"appears":[61],"reference":[63],"overcome":[66],"using":[67,93],"arc":[68],"by":[71],"considering":[72],"signs":[74],"both":[76],"arguments.":[78],"To":[79],"obviate":[80],"singularity":[84],"during":[85],"tracking,":[87],"barrier":[94],"Lyapunov":[95],"(BLF)":[97],"corresponding":[99],"initial":[100],"condition":[101],"constraint":[102],"proposed.":[104],"rigorous":[106],"stability":[107,137],"analysis":[108,138],"proves":[109],"that":[110],"overall":[112],"closed-loop":[113],"system":[114],"asymptotically":[116],"stable":[117],"(AS)":[118],"all":[120],"signals":[122],"are":[123],"bounded":[124],"cascaded":[127],"structure.":[129],"development":[134],"its":[136],"exploits":[139],"full":[141],"state":[142],"space":[143],"Euler-Lagrange":[144],"under-actuated":[145],"dynamics":[146],"terms":[148],"generalized":[150,153,159],"coordinates":[151],"force":[154],"torque":[156],"collocated":[157],"velocities.":[160],"Simulation":[161],"results":[162],"show":[163],"performance":[165],"controller.":[169]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}