{"id":"https://openalex.org/W2345856053","doi":"https://doi.org/10.3390/s16050652","title":"Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV","display_name":"Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV","publication_year":2016,"publication_date":"2016-05-09","ids":{"openalex":"https://openalex.org/W2345856053","doi":"https://doi.org/10.3390/s16050652","mag":"2345856053","pmid":"https://pubmed.ncbi.nlm.nih.gov/27171084"},"language":"en","primary_location":{"id":"doi:10.3390/s16050652","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s16050652","pdf_url":"https://www.mdpi.com/1424-8220/16/5/652/pdf?version=1462781781","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/16/5/652/pdf?version=1462781781","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035764964","display_name":"Zain Anwar Ali","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zain Ali","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China"],"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054907630","display_name":"Daobo Wang","orcid":"https://orcid.org/0000-0002-6512-6662"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daobo Wang","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China"],"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089191824","display_name":"Muhammad Aamir","orcid":"https://orcid.org/0000-0002-6969-6101"},"institutions":[{"id":"https://openalex.org/I34478861","display_name":"Sir Syed University of Engineering and Technology","ror":"https://ror.org/02n4kqn31","country_code":"PK","type":"education","lineage":["https://openalex.org/I34478861"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Muhammad Aamir","raw_affiliation_strings":["Electronic Engineering Department, Sir Syed University of Engineering and Technology, Karachi 75300, Pakistan"],"affiliations":[{"raw_affiliation_string":"Electronic Engineering Department, Sir Syed University of Engineering and Technology, Karachi 75300, Pakistan","institution_ids":["https://openalex.org/I34478861"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5035764964"],"corresponding_institution_ids":["https://openalex.org/I9842412"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":3.7898,"has_fulltext":true,"cited_by_count":42,"citation_normalized_percentile":{"value":0.93342754,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"16","issue":"5","first_page":"652","last_page":"652"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9868000149726868,"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":0.8483654260635376},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.6920294761657715},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6835325360298157},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.526719331741333},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5004186630249023},{"id":"https://openalex.org/keywords/transient","display_name":"Transient (computer programming)","score":0.482148140668869},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47581177949905396},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.4525359272956848},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4050023555755615},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35942256450653076},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12475836277008057},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11176252365112305}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8483654260635376},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.6920294761657715},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6835325360298157},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.526719331741333},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5004186630249023},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.482148140668869},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47581177949905396},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.4525359272956848},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4050023555755615},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35942256450653076},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12475836277008057},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11176252365112305},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s16050652","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s16050652","pdf_url":"https://www.mdpi.com/1424-8220/16/5/652/pdf?version=1462781781","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:27171084","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/27171084","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:57d22b0ef5b24aeba4c109b4f31a9e44","is_oa":true,"landing_page_url":"https://doaj.org/article/57d22b0ef5b24aeba4c109b4f31a9e44","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 16, Iss 5, p 652 (2016)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:3848308","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4883343","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"},{"id":"pmh:oai:mdpi.com:/1424-8220/16/5/652/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s16050652","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 16; Issue 5; Pages: 652","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s16050652","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s16050652","pdf_url":"https://www.mdpi.com/1424-8220/16/5/652/pdf?version=1462781781","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.75}],"awards":[{"id":"https://openalex.org/G1109809735","display_name":null,"funder_award_id":"61503185","funder_id":"https://openalex.org/F4320322438","funder_display_name":"Nanjing University of Aeronautics and Astronautics"},{"id":"https://openalex.org/G1231421488","display_name":null,"funder_award_id":"under","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1365178872","display_name":null,"funder_award_id":"210016","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2392986700","display_name":null,"funder_award_id":"61503185","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6214304726","display_name":null,"funder_award_id":"210016","funder_id":"https://openalex.org/F4320322438","funder_display_name":"Nanjing University of Aeronautics and Astronautics"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322438","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794"},{"id":"https://openalex.org/F4320324852","display_name":"Nanjing University","ror":"https://ror.org/01rxvg760"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2345856053.pdf","grobid_xml":"https://content.openalex.org/works/W2345856053.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W67237221","https://openalex.org/W767575886","https://openalex.org/W1549882955","https://openalex.org/W1574693405","https://openalex.org/W1918482056","https://openalex.org/W1965522621","https://openalex.org/W1970104171","https://openalex.org/W1985488040","https://openalex.org/W1994504795","https://openalex.org/W2024504215","https://openalex.org/W2031123740","https://openalex.org/W2034007473","https://openalex.org/W2035981208","https://openalex.org/W2036192317","https://openalex.org/W2037539475","https://openalex.org/W2042969603","https://openalex.org/W2044480792","https://openalex.org/W2052189724","https://openalex.org/W2064293659","https://openalex.org/W2100134099","https://openalex.org/W2111216404","https://openalex.org/W2126327477","https://openalex.org/W2130915832","https://openalex.org/W2139649484","https://openalex.org/W2140128279","https://openalex.org/W2143918720","https://openalex.org/W2156909576","https://openalex.org/W2163728427","https://openalex.org/W2167399190","https://openalex.org/W2169100504","https://openalex.org/W2315522507","https://openalex.org/W2318156105","https://openalex.org/W3141997345"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2358137648","https://openalex.org/W3128819368","https://openalex.org/W2259231220","https://openalex.org/W3170092502","https://openalex.org/W2130857934","https://openalex.org/W2389992906","https://openalex.org/W2354679221","https://openalex.org/W2054296141","https://openalex.org/W135622916"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,17,29,56],"new":[4],"and":[5,82,85,115,159],"novel":[6],"mathematical":[7],"fuzzy":[8,24,30,57,134],"hybrid":[9,25,102,135],"scheme":[10,26],"is":[11,94,108,125,137],"proposed":[12,95,101,123,133,149],"for":[13,96],"the":[14,49,68,72,100,111,122,132,140],"stabilization":[15],"of":[16,28,48,71,113,121],"tri-rotor":[18,73],"unmanned":[19],"aerial":[20],"vehicle":[21],"(UAV).":[22],"The":[23,119],"consists":[27],"logic":[31,58],"controller,":[32],"regulation":[33],"pole-placement":[34],"tracking":[35],"(RST)":[36],"controller":[37,51,103,136],"with":[38,104,139,155],"model":[39],"reference":[40],"adaptive":[41,46,142],"control":[42,78],"(MRAC),":[43],"in":[44,67,110,130],"which":[45,75,131],"gains":[47],"RST":[50,143],"are":[52,65],"being":[53],"fine-tuned":[54],"by":[55],"controller.":[59,144],"Brushless":[60],"direct":[61],"current":[62],"(BLDC)":[63],"motors":[64],"installed":[66],"triangular":[69],"frame":[70],"UAV,":[74],"helps":[76],"maintain":[77],"on":[79],"its":[80],"motion":[81],"different":[83],"altitude":[84],"attitude":[86],"changes,":[87],"similar":[88],"to":[89],"rotorcrafts.":[90],"MRAC-based":[91],"MIT":[92],"rule":[93],"system":[97],"stability.":[98,163],"Moreover,":[99],"nonlinear":[105],"flight":[106],"dynamics":[107],"shown":[109],"presence":[112],"translational":[114],"rotational":[116],"velocity":[117],"components.":[118],"performance":[120,154],"algorithm":[124,150],"demonstrated":[126],"via":[127],"MATLAB":[128],"simulations,":[129],"compared":[138],"existing":[141],"It":[145],"shows":[146],"that":[147],"our":[148],"has":[151],"better":[152],"transient":[153],"zero":[156],"steady-state":[157],"error,":[158],"fast":[160],"convergence":[161],"towards":[162]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":6},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
