{"id":"https://openalex.org/W4402262753","doi":"https://doi.org/10.23919/acc60939.2024.10644651","title":"EMPC-Based Flight Controller Design for a Quadrotor with Unbalanced Payload","display_name":"EMPC-Based Flight Controller Design for a Quadrotor with Unbalanced Payload","publication_year":2024,"publication_date":"2024-07-10","ids":{"openalex":"https://openalex.org/W4402262753","doi":"https://doi.org/10.23919/acc60939.2024.10644651"},"language":"en","primary_location":{"id":"doi:10.23919/acc60939.2024.10644651","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/acc60939.2024.10644651","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5101869484","display_name":"Xiangyu Zhang","orcid":"https://orcid.org/0000-0002-7012-6202"},"institutions":[{"id":"https://openalex.org/I161057412","display_name":"University of New Hampshire","ror":"https://ror.org/01rmh9n78","country_code":"US","type":"education","lineage":["https://openalex.org/I161057412"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiangyu Zhang","raw_affiliation_strings":["University of New Hampshire,Department of Mechanical Engineering,Durham,NH,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of New Hampshire,Department of Mechanical Engineering,Durham,NH,USA","institution_ids":["https://openalex.org/I161057412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102736762","display_name":"Bingxian Mu","orcid":"https://orcid.org/0000-0003-4830-3329"},"institutions":[{"id":"https://openalex.org/I161057412","display_name":"University of New Hampshire","ror":"https://ror.org/01rmh9n78","country_code":"US","type":"education","lineage":["https://openalex.org/I161057412"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bingxian Mu","raw_affiliation_strings":["University of New Hampshire,Department of Mechanical Engineering,Durham,NH,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of New Hampshire,Department of Mechanical Engineering,Durham,NH,USA","institution_ids":["https://openalex.org/I161057412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031215547","display_name":"Se Young Yoon","orcid":"https://orcid.org/0000-0002-3385-8447"},"institutions":[{"id":"https://openalex.org/I161057412","display_name":"University of New Hampshire","ror":"https://ror.org/01rmh9n78","country_code":"US","type":"education","lineage":["https://openalex.org/I161057412"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Se Young Yoon","raw_affiliation_strings":["University of New Hampshire,Department of Electrical and Computer Engineering,Durham,NH,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of New Hampshire,Department of Electrical and Computer Engineering,Durham,NH,USA","institution_ids":["https://openalex.org/I161057412"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I161057412"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3873","last_page":"3878"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.992900013923645,"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/T12810","display_name":"Real-time simulation and control systems","score":0.992900013923645,"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/T11081","display_name":"Advanced Control Systems Design","score":0.9902999997138977,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9886000156402588,"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/payload","display_name":"Payload (computing)","score":0.9152620434761047},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5684141516685486},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.441354364156723},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.4106051027774811},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40687233209609985},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36712002754211426},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3257708251476288},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29716014862060547},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1766209900379181},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09619656205177307},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07646206021308899}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.9152620434761047},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5684141516685486},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.441354364156723},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.4106051027774811},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40687233209609985},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36712002754211426},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3257708251476288},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29716014862060547},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1766209900379181},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09619656205177307},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07646206021308899},{"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/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc60939.2024.10644651","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/acc60939.2024.10644651","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.7799999713897705,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W124292005","https://openalex.org/W1524886571","https://openalex.org/W2002219970","https://openalex.org/W2023271562","https://openalex.org/W2035734362","https://openalex.org/W2059493488","https://openalex.org/W2523159492","https://openalex.org/W2676821827","https://openalex.org/W2738812057","https://openalex.org/W2784283871","https://openalex.org/W2791738569","https://openalex.org/W2892378191","https://openalex.org/W2940656821","https://openalex.org/W3122831466","https://openalex.org/W3127396330","https://openalex.org/W3204544336","https://openalex.org/W4231019594","https://openalex.org/W4302060635","https://openalex.org/W4321380998","https://openalex.org/W6756330597","https://openalex.org/W6802522909","https://openalex.org/W6804059694"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W4288094128","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W2312786236","https://openalex.org/W20648474","https://openalex.org/W2000675896"],"abstract_inverted_index":{"In":[0,65],"this":[1],"paper,":[2],"a":[3,15,41],"robust":[4],"explicit":[5],"model":[6],"predictive":[7],"control":[8,52,95,115,141],"(EMPC)":[9],"flight":[10,114],"scheme":[11],"is":[12,18,97,109,131],"investigated":[13],"for":[14,21,30,37,82,111],"quadrotor.":[16],"MPC":[17],"widely":[19],"recognized":[20],"its":[22,27],"effectiveness":[23],"in":[24,122],"control,":[25],"but":[26],"computational":[28],"complexity":[29],"solving":[31],"the":[32,60,66,77,101,112,118,123,127,136,139],"online":[33],"optimization":[34,62],"problem,":[35],"particularly":[36],"fast":[38],"systems,":[39],"poses":[40],"challenge.":[42],"To":[43],"address":[44],"this,":[45],"we":[46,69],"introduce":[47],"an":[48],"innovative":[49],"inner-outer":[50],"loop":[51,79],"structure":[53],"that":[54],"incorporates":[55],"EMPC":[56,81],"which":[57],"can":[58],"transfer":[59],"overall":[61],"process":[63],"offline.":[64],"outer":[67],"loop,":[68],"calculate":[70],"reference":[71],"roll":[72],"and":[73,84,126],"pitch":[74],"angles,":[75],"while":[76],"inner":[78],"employs":[80],"rapid":[83],"optimized":[85],"angle":[86],"tracking":[87],"within":[88],"practical":[89],"constraints.":[90],"Additionally,":[91],"integral":[92],"sliding":[93],"mode":[94],"(ISMC)":[96],"integrated":[98],"to":[99],"mitigate":[100],"effects":[102],"of":[103,138],"unbalanced":[104],"pay-loads.":[105],"The":[106],"recursive":[107],"feasibility":[108,124],"guaranteed":[110],"proposed":[113,140],"method":[116],"if":[117],"initial":[119],"states":[120],"are":[121],"set,":[125],"Lyapunov":[128],"stability":[129],"analysis":[130],"conducted.":[132],"Finally,":[133],"experiments":[134],"show":[135],"efficacy":[137],"strategies.":[142]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
