{"id":"https://openalex.org/W1826693317","doi":"https://doi.org/10.23919/ecc.2013.6669856","title":"Time-parametrization control of quadrotors with a robust quaternion-based sliding mode controller for aggressive maneuvering","display_name":"Time-parametrization control of quadrotors with a robust quaternion-based sliding mode controller for aggressive maneuvering","publication_year":2013,"publication_date":"2013-07-01","ids":{"openalex":"https://openalex.org/W1826693317","doi":"https://doi.org/10.23919/ecc.2013.6669856","mag":"1826693317"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2013.6669856","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2013.6669856","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Control Conference (ECC)","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/A5003237228","display_name":"A. Sanchez","orcid":"https://orcid.org/0000-0002-6553-1641"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Anand Sanchez","raw_affiliation_strings":["Laboratory of Non-inertial Robots and Man-machine Interfaces, Mexico","Robot. & Adv. Manuf. Div., Res. Center for Adv. Studies (Cinvestav), Saltillo, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Non-inertial Robots and Man-machine Interfaces, Mexico","institution_ids":[]},{"raw_affiliation_string":"Robot. & Adv. Manuf. Div., Res. Center for Adv. Studies (Cinvestav), Saltillo, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028434777","display_name":"Vicente Parra\u2010Vega","orcid":"https://orcid.org/0000-0002-1813-0394"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Vicente Parra-Vega","raw_affiliation_strings":["Laboratory of Non-inertial Robots and Man-machine Interfaces, Mexico","Robot. & Adv. Manuf. Div., Res. Center for Adv. Studies (Cinvestav), Saltillo, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Non-inertial Robots and Man-machine Interfaces, Mexico","institution_ids":[]},{"raw_affiliation_string":"Robot. & Adv. Manuf. Div., Res. Center for Adv. Studies (Cinvestav), Saltillo, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Octavio Garcia","orcid":null},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Octavio Garcia","raw_affiliation_strings":["Laboratory of Non-inertial Robots and Man-machine Interfaces, Mexico","Biomed. Eng. & Phys. Div., Cinvestav, Monterrey, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Non-inertial Robots and Man-machine Interfaces, Mexico","institution_ids":[]},{"raw_affiliation_string":"Biomed. Eng. & Phys. Div., Cinvestav, Monterrey, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079888861","display_name":"Francisco J. Ruiz-Sanchez","orcid":"https://orcid.org/0000-0002-4053-7932"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Francisco Ruiz-Sanchez","raw_affiliation_strings":["Laboratory of Non-inertial Robots and Man-machine Interfaces, Mexico","Robot. & Adv. Manuf. Div., Res. Center for Adv. Studies (Cinvestav), Saltillo, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Non-inertial Robots and Man-machine Interfaces, Mexico","institution_ids":[]},{"raw_affiliation_string":"Robot. & Adv. Manuf. Div., Res. Center for Adv. Studies (Cinvestav), Saltillo, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079269281","display_name":"Luis Enrique Ramos\u2010Velasco","orcid":"https://orcid.org/0000-0002-8715-9641"},"institutions":[{"id":"https://openalex.org/I104854061","display_name":"Universidad Aut\u00f3noma del Estado de Hidalgo","ror":"https://ror.org/031f8kt38","country_code":"MX","type":"education","lineage":["https://openalex.org/I104854061"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"L. E. Ramos-Velasco","raw_affiliation_strings":["Centro de Investigaci\u00f3n en Tecnolog\u00edas de la Informaci\u00f3n y Sistemas, UAEH, Pachuca, Hidalgo, Mexico","Centro de Investig. en Tecnol. de la Informacion y Sist., UAEH, Pachuca, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro de Investigaci\u00f3n en Tecnolog\u00edas de la Informaci\u00f3n y Sistemas, UAEH, Pachuca, Hidalgo, Mexico","institution_ids":["https://openalex.org/I104854061"]},{"raw_affiliation_string":"Centro de Investig. en Tecnol. de la Informacion y Sist., UAEH, Pachuca, Mexico","institution_ids":["https://openalex.org/I104854061"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3876","last_page":"3881"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9975000023841858,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.8397585153579712},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.7663620710372925},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5755579471588135},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5629582405090332},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5355411171913147},{"id":"https://openalex.org/keywords/parametrization","display_name":"Parametrization (atmospheric modeling)","score":0.5145241618156433},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.48520687222480774},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.47165027260780334},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.4622814953327179},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.445513516664505},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.44546616077423096},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.419220894575119},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4153353273868561},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34218093752861023},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.28865957260131836},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25511887669563293},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22446027398109436},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21883121132850647},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13969463109970093}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8397585153579712},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.7663620710372925},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5755579471588135},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5629582405090332},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5355411171913147},{"id":"https://openalex.org/C202887219","wikidata":"https://www.wikidata.org/wiki/Q3895221","display_name":"Parametrization (atmospheric modeling)","level":3,"score":0.5145241618156433},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48520687222480774},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.47165027260780334},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.4622814953327179},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.445513516664505},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.44546616077423096},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.419220894575119},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4153353273868561},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34218093752861023},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.28865957260131836},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25511887669563293},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22446027398109436},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21883121132850647},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13969463109970093},{"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C74902906","wikidata":"https://www.wikidata.org/wiki/Q1190858","display_name":"Radiative transfer","level":2,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc.2013.6669856","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2013.6669856","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Control Conference (ECC)","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":7,"referenced_works":["https://openalex.org/W28945279","https://openalex.org/W2025099956","https://openalex.org/W2109920799","https://openalex.org/W2153807823","https://openalex.org/W2158970259","https://openalex.org/W2160209178","https://openalex.org/W2171541961"],"related_works":["https://openalex.org/W3127350447","https://openalex.org/W3108700312","https://openalex.org/W4225472102","https://openalex.org/W2382948573","https://openalex.org/W2887325221","https://openalex.org/W2084651007","https://openalex.org/W2184550115","https://openalex.org/W3121191907","https://openalex.org/W2391028436","https://openalex.org/W2368484960"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"introduce":[4],"the":[5,36,43,48,55,70,74,87,104],"concept":[6],"of":[7,42,47,62,107,148],"time":[8,101],"parametrization":[9],"for":[10,79],"Quadrotor":[11,76],"flight":[12,71],"maneuvers":[13],"establishing":[14],"a":[15,25,98,129,145],"novel,":[16],"robust":[17,59],"and":[18,65,110,122,131],"model":[19],"free":[20],"feedback":[21,111],"controller":[22],"based":[23,83],"on":[24,84,128],"quaternion":[26],"representation":[27],"without":[28],"singularities.":[29],"Three":[30],"prominent":[31],"features":[32],"are":[33,135],"remarked:":[34],"firstly,":[35],"control":[37,52],"algorithm":[38],"assures":[39],"exponential":[40],"stability":[41],"full":[44],"position/attitude":[45],"dynamics":[46],"system":[49,57],"with":[50],"smooth":[51],"efforts.":[53],"Secondly,":[54],"closed-loop":[56],"is":[58],"in":[60,137,140],"presence":[61],"external":[63],"forces":[64],"induced":[66],"moments":[67],"generated":[68],"during":[69],"maneuvers.":[72,81],"Finally,":[73],"controlled":[75],"offers":[77],"capabilities":[78],"aggressive":[80],"Additionally,":[82],"time-based":[85],"generators,":[86],"sliding":[88],"mode":[89],"gives":[90],"rise":[91],"to":[92,125,142],"well-posed":[93],"terminal":[94],"stability,":[95],"parametrized":[96],"by":[97,103],"desired":[99],"convergence":[100],"defined":[102],"user,":[105],"independently":[106],"initial":[108],"conditions":[109],"gains.":[112],"This":[113],"allows":[114],"tasks,":[115],"such":[116],"as":[117],"cooperative":[118],"Quadrotor,":[119],"or":[120],"force":[121],"interaction":[123],"task,":[124],"be":[126],"solved":[127],"nonlinear":[130],"simplified":[132],"setting.":[133],"Simulations":[134],"presented":[136],"several":[138],"scenarios":[139],"order":[141],"carry":[143],"out":[144],"wide":[146],"idea":[147],"our":[149],"approach.":[150]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
