{"id":"https://openalex.org/W4294691728","doi":"https://doi.org/10.23919/acc53348.2022.9867402","title":"Adaptive Flight Stabilization Framework for a Planar 4R-Foldable Quadrotor: Utilizing Morphing to Navigate in Confined Environments","display_name":"Adaptive Flight Stabilization Framework for a Planar 4R-Foldable Quadrotor: Utilizing Morphing to Navigate in Confined Environments","publication_year":2022,"publication_date":"2022-06-08","ids":{"openalex":"https://openalex.org/W4294691728","doi":"https://doi.org/10.23919/acc53348.2022.9867402"},"language":"en","primary_location":{"id":"doi:10.23919/acc53348.2022.9867402","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867402","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","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":"https://openalex.org/A5021561200","display_name":"Jawad Mehmood Butt","orcid":"https://orcid.org/0000-0002-6265-497X"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jawad Mehmood Butt","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong,China","Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067080066","display_name":"Xin Ma","orcid":"https://orcid.org/0000-0002-9325-6384"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xin Ma","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong,China","Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054031435","display_name":"Xiangyu Chu","orcid":"https://orcid.org/0000-0002-7677-2600"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xiangyu Chu","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong,China","Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038766171","display_name":"Kwok Wai Samuel Au","orcid":"https://orcid.org/0000-0002-0114-7499"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"K. W. Samuel Au","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong,China","Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":2.6456,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.91216956,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9990000128746033,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/morphing","display_name":"Morphing","score":0.9282721877098083},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7596851587295532},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6877503991127014},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5806451439857483},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.5658894777297974},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5433957576751709},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5088837146759033},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4880346357822418},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.30328771471977234},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2624382972717285},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.21666312217712402},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21607956290245056},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21434706449508667},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07245984673500061}],"concepts":[{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.9282721877098083},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7596851587295532},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6877503991127014},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5806451439857483},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.5658894777297974},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5433957576751709},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5088837146759033},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4880346357822418},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.30328771471977234},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2624382972717285},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.21666312217712402},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21607956290245056},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21434706449508667},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07245984673500061},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc53348.2022.9867402","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867402","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.6399999856948853}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1510199534","https://openalex.org/W2065894019","https://openalex.org/W2519945751","https://openalex.org/W2566343246","https://openalex.org/W2568125003","https://openalex.org/W2726676622","https://openalex.org/W2765194850","https://openalex.org/W2769498435","https://openalex.org/W2806599356","https://openalex.org/W2905560833","https://openalex.org/W2965215408","https://openalex.org/W2968479790","https://openalex.org/W3155657979","https://openalex.org/W3174123873","https://openalex.org/W3185303610","https://openalex.org/W3205839708","https://openalex.org/W6774039234","https://openalex.org/W6797047829"],"related_works":["https://openalex.org/W1679315481","https://openalex.org/W3151495635","https://openalex.org/W4385170164","https://openalex.org/W4236870338","https://openalex.org/W2016917053","https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W4309225183","https://openalex.org/W2157008402"],"abstract_inverted_index":{"A":[0],"planar":[1,72,182],"4R-foldable":[2,73,183],"quadrotor,":[3],"i.e.,":[4],"foldable":[5],"quadrotor":[6,20,75],"with":[7,102,131],"four":[8],"independent":[9],"revolute":[10],"joints":[11],"for":[12,70],"wings":[13],"rotation":[14],"has":[15],"the":[16,34,48,54,78,93,105,117,126,132,135,138,145,151,154,165,176],"edge":[17],"over":[18],"conventional":[19],"in":[21,57,158,171],"confined":[22,58,159],"space":[23],"navigation":[24],"due":[25],"to":[26,91,104,115,149],"its":[27],"morphing":[28,35,74,94,184],"capability":[29],"and":[30,38,52,81,97,174],"multimodal":[31],"behaviors.":[32],"However,":[33],"induced":[36,95],"inertial":[37,96],"center":[39,98],"of":[40,99,120,137,153,180],"gravity":[41,100],"variations":[42,101],"cause":[43],"attitude":[44,107,139,172],"destabilization,":[45],"which":[46,124],"impedes":[47],"trajectory":[49,127,177],"tracking":[50,83,122,128,140,178],"efficiency":[51],"reduces":[53],"flight":[55,67],"stability":[56],"environments.":[59,160],"In":[60],"this":[61],"paper,":[62],"we":[63],"propose":[64],"an":[65],"adaptive":[66,79,86,110,166],"stabilization":[68,167,173],"framework":[69,157,168],"a":[71,181],"that":[76,164],"comprises":[77],"control":[80,87,123,156],"geometric":[82,121],"control.":[84],"The":[85],"laws":[88,111],"are":[89,112],"developed":[90],"estimate":[92],"respect":[103],"desired":[106],"dynamics.":[108],"These":[109],"then":[113],"used":[114],"develop":[116],"feedback":[118],"component":[119],"improves":[125],"efficiency.":[129],"Together":[130],"controller":[133],"design,":[134],"boundness":[136],"errors":[141],"is":[142,169],"proved.":[143],"Moreover,":[144],"simulations":[146],"were":[147],"conducted":[148],"validate":[150],"effectiveness":[152],"proposed":[155],"Initial":[161],"results":[162],"show":[163],"effective":[170],"enhancing":[175],"performance":[179],"quadrotor.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}