{"id":"https://openalex.org/W4400021886","doi":"https://doi.org/10.23919/ecc64448.2024.10591195","title":"Tube MPC via flatness for multicopter trajectory tracking","display_name":"Tube MPC via flatness for multicopter trajectory tracking","publication_year":2024,"publication_date":"2024-06-25","ids":{"openalex":"https://openalex.org/W4400021886","doi":"https://doi.org/10.23919/ecc64448.2024.10591195"},"language":"en","primary_location":{"id":"doi:10.23919/ecc64448.2024.10591195","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc64448.2024.10591195","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-04620816/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057977383","display_name":"Huu-Thinh Do","orcid":"https://orcid.org/0000-0003-2360-5339"},"institutions":[{"id":"https://openalex.org/I106785703","display_name":"Institut polytechnique de Grenoble","ror":"https://ror.org/05sbt2524","country_code":"FR","type":"education","lineage":["https://openalex.org/I106785703","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I4210145979","display_name":"Laboratoire de Conception et d'Int\u00e9gration des Syst\u00e8mes","ror":"https://ror.org/04eg25g76","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I4210145979","https://openalex.org/I899635006","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Huu-Thinh Do","raw_affiliation_strings":["Univ. Grenoble Alpes, Grenoble INP&#x2020;, LCIS,Valence,France,26000","LCIS - Laboratoire de Conception et d'Int\u00e9gration des Syst\u00e8mes (50, rue Barth\u00e9l\u00e9my de Laffemas \r\nBP54 \r\n26902 VALENCE \r\nCedex 09 France - France)","UGA - Universit\u00e9 Grenoble Alpes (Adresse CS 40700 - 38058 Grenoble cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, Grenoble INP&#x2020;, LCIS,Valence,France,26000","institution_ids":["https://openalex.org/I899635006","https://openalex.org/I106785703"]},{"raw_affiliation_string":"LCIS - Laboratoire de Conception et d'Int\u00e9gration des Syst\u00e8mes (50, rue Barth\u00e9l\u00e9my de Laffemas \r\nBP54 \r\n26902 VALENCE \r\nCedex 09 France - France)","institution_ids":["https://openalex.org/I4210145979"]},{"raw_affiliation_string":"UGA - Universit\u00e9 Grenoble Alpes (Adresse CS 40700 - 38058 Grenoble cedex - France)","institution_ids":["https://openalex.org/I899635006"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034151810","display_name":"Ionela Prodan","orcid":"https://orcid.org/0000-0002-3522-5192"},"institutions":[{"id":"https://openalex.org/I106785703","display_name":"Institut polytechnique de Grenoble","ror":"https://ror.org/05sbt2524","country_code":"FR","type":"education","lineage":["https://openalex.org/I106785703","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I4210145979","display_name":"Laboratoire de Conception et d'Int\u00e9gration des Syst\u00e8mes","ror":"https://ror.org/04eg25g76","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I4210145979","https://openalex.org/I899635006","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ionela Prodan","raw_affiliation_strings":["Univ. Grenoble Alpes, Grenoble INP&#x2020;, LCIS,Valence,France,26000","LCIS - Laboratoire de Conception et d'Int\u00e9gration des Syst\u00e8mes (50, rue Barth\u00e9l\u00e9my de Laffemas \r\nBP54 \r\n26902 VALENCE \r\nCedex 09 France - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, Grenoble INP&#x2020;, LCIS,Valence,France,26000","institution_ids":["https://openalex.org/I899635006","https://openalex.org/I106785703"]},{"raw_affiliation_string":"LCIS - Laboratoire de Conception et d'Int\u00e9gration des Syst\u00e8mes (50, rue Barth\u00e9l\u00e9my de Laffemas \r\nBP54 \r\n26902 VALENCE \r\nCedex 09 France - France)","institution_ids":["https://openalex.org/I4210145979"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2841,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.52874605,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1449","last_page":"1454"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9718999862670898,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9718999862670898,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9659000039100647,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9624000191688538,"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/trajectory","display_name":"Trajectory","score":0.7466437220573425},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6752154231071472},{"id":"https://openalex.org/keywords/flatness","display_name":"Flatness (cosmology)","score":0.5344834327697754},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49549758434295654},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4953266680240631},{"id":"https://openalex.org/keywords/tube","display_name":"Tube (container)","score":0.44752347469329834},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16334152221679688},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12037155032157898},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10430878400802612},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06808099150657654},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.048462480306625366}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7466437220573425},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6752154231071472},{"id":"https://openalex.org/C2778530986","wikidata":"https://www.wikidata.org/wiki/Q5457948","display_name":"Flatness (cosmology)","level":3,"score":0.5344834327697754},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49549758434295654},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4953266680240631},{"id":"https://openalex.org/C2777551473","wikidata":"https://www.wikidata.org/wiki/Q2093072","display_name":"Tube (container)","level":2,"score":0.44752347469329834},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16334152221679688},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12037155032157898},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10430878400802612},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06808099150657654},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.048462480306625366},{"id":"https://openalex.org/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/ecc64448.2024.10591195","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc64448.2024.10591195","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04620816v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04620816","pdf_url":"https://hal.science/hal-04620816/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2024 European Control Conference, Jun 2024, Stockholm, Sweden","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04620816v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04620816","pdf_url":"https://hal.science/hal-04620816/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2024 European Control Conference, Jun 2024, Stockholm, Sweden","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4400021886.pdf"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W1704276703","https://openalex.org/W1880805667","https://openalex.org/W1978956894","https://openalex.org/W1981723834","https://openalex.org/W2041109651","https://openalex.org/W2095233962","https://openalex.org/W2119974577","https://openalex.org/W2127580532","https://openalex.org/W2758653969","https://openalex.org/W2884723502","https://openalex.org/W2900568566","https://openalex.org/W2900885761","https://openalex.org/W2990540150","https://openalex.org/W3034366620","https://openalex.org/W3123524846","https://openalex.org/W3201258101","https://openalex.org/W4205769679","https://openalex.org/W4232303308","https://openalex.org/W4250589301","https://openalex.org/W4360834187"],"related_works":["https://openalex.org/W2789295429","https://openalex.org/W2066314436","https://openalex.org/W2733767282","https://openalex.org/W2510927817","https://openalex.org/W2540573954","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W2157008402","https://openalex.org/W2592302855"],"abstract_inverted_index":{"Nonlinearity":[0],"and":[1,153,160],"dimensionality":[2],"have":[3],"always":[4],"been":[5],"computationally":[6],"challenging":[7],"problems":[8],"when":[9],"it":[10],"comes":[11],"to":[12,32,58,120,158],"the":[13,22,34,67,81,89,96,108,122,125,132,162],"online":[14],"implementation":[15],"of":[16,24,63,69,98,134],"optimization-based":[17],"control":[18,56],"approaches,":[19],"especially":[20],"in":[21,66,93,107],"presence":[23,68],"disturbances.":[25,70],"In":[26,85],"this":[27,86],"paper,":[28],"we":[29,50],"show":[30],"how":[31],"alleviate":[33],"problem":[35,128],"via":[36],"a":[37,45,52,60,64,76,117,135,147],"variable":[38],"reformulation":[39],"derived":[40],"from":[41],"differential":[42],"flatness":[43,83],"for":[44],"quadcopter":[46,65],"vehicle.":[47],"More":[48],"specifically,":[49],"present":[51],"robust":[53,148],"model":[54,149],"predictive":[55,150],"design,":[57],"track":[59],"predefined":[61],"trajectory":[62,126],"The":[71],"synthesis":[72],"procedure":[73],"starts":[74],"with":[75,116],"coordinate":[77],"change":[78],"mediated":[79],"by":[80,146],"model's":[82],"property.":[84],"new":[87],"representation,":[88],"dynamics":[90],"become":[91],"linear":[92,137],"closed-loop":[94],"at":[95],"price":[97],"more":[99],"convoluted":[100],"constraint":[101],"expressions,":[102],"which":[103,142],"are":[104,113,156],"usually":[105],"disregarded":[106],"literature":[109],"or":[110],"simple":[111],"approximations":[112],"proposed.":[114],"Subsequently,":[115],"proper":[118],"parameterization":[119],"portray":[121],"feasible":[123],"domain,":[124],"tracking":[127],"is":[129,143],"transformed":[130],"into":[131],"stabilization":[133],"constrained":[136],"time-invariant":[138],"system":[139],"under":[140],"disturbances,":[141],"then":[144],"handled":[145],"controller.":[151],"Simulations":[152],"experimental":[154],"results":[155],"presented":[157],"analyze":[159],"validate":[161],"proposed":[163],"scheme.":[164]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}
