{"id":"https://openalex.org/W2905946778","doi":"https://doi.org/10.3390/s19010046","title":"Adaptive Linear Quadratic Attitude Tracking Control of a Quadrotor UAV Based on IMU Sensor Data Fusion","display_name":"Adaptive Linear Quadratic Attitude Tracking Control of a Quadrotor UAV Based on IMU Sensor Data Fusion","publication_year":2018,"publication_date":"2018-12-22","ids":{"openalex":"https://openalex.org/W2905946778","doi":"https://doi.org/10.3390/s19010046","mag":"2905946778","pmid":"https://pubmed.ncbi.nlm.nih.gov/30583553"},"language":"en","primary_location":{"id":"doi:10.3390/s19010046","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19010046","pdf_url":"https://www.mdpi.com/1424-8220/19/1/46/pdf?version=1547536116","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/1424-8220/19/1/46/pdf?version=1547536116","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014460409","display_name":"Nasrettin K\u00f6ksal","orcid":"https://orcid.org/0000-0003-2723-2111"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"N. Koksal","raw_affiliation_strings":["Department of Mechanical and Mechatronics Engineering, University of Waterloo, 200 University Avenue West, Waterloo, ON N2L 3G1, Canada"],"raw_orcid":"https://orcid.org/0000-0003-2723-2111","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, 200 University Avenue West, Waterloo, ON N2L 3G1, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024818611","display_name":"Mehdi Jalalmaab","orcid":"https://orcid.org/0000-0002-5497-3882"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"M. Jalalmaab","raw_affiliation_strings":["Department of Mechanical and Mechatronics Engineering, University of Waterloo, 200 University Avenue West, Waterloo, ON N2L 3G1, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, 200 University Avenue West, Waterloo, ON N2L 3G1, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001551882","display_name":"Bar\u0131\u015f Fi\u0307dan","orcid":"https://orcid.org/0000-0002-5333-0201"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"B. Fidan","raw_affiliation_strings":["Department of Mechanical and Mechatronics Engineering, University of Waterloo, 200 University Avenue West, Waterloo, ON N2L 3G1, Canada"],"raw_orcid":"https://orcid.org/0000-0002-5333-0201","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, 200 University Avenue West, Waterloo, ON N2L 3G1, Canada","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5001551882"],"corresponding_institution_ids":["https://openalex.org/I151746483"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":44.2069,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.99557159,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"19","issue":"1","first_page":"46","last_page":"46"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9998000264167786,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/control-theory","display_name":"Control theory (sociology)","score":0.818527102470398},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6305500268936157},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5819456577301025},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5517989993095398},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5488343238830566},{"id":"https://openalex.org/keywords/attitude-and-heading-reference-system","display_name":"Attitude and heading reference system","score":0.4416758418083191},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.43439123034477234},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42202723026275635},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.41243910789489746},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3755863606929779},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34439241886138916},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18146398663520813},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1729608178138733},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11805030703544617}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.818527102470398},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6305500268936157},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5819456577301025},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5517989993095398},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5488343238830566},{"id":"https://openalex.org/C204114589","wikidata":"https://www.wikidata.org/wiki/Q4248887","display_name":"Attitude and heading reference system","level":3,"score":0.4416758418083191},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.43439123034477234},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42202723026275635},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.41243910789489746},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3755863606929779},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34439241886138916},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18146398663520813},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1729608178138733},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11805030703544617},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.3390/s19010046","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19010046","pdf_url":"https://www.mdpi.com/1424-8220/19/1/46/pdf?version=1547536116","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:30583553","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/30583553","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:5ccb528793cd45deb713204e7866608c","is_oa":true,"landing_page_url":"https://doaj.org/article/5ccb528793cd45deb713204e7866608c","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"repository"},"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 19, Iss 1, p 46 (2018)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:5323022","is_oa":true,"landing_page_url":"http://europepmc.org/pmc/articles/PMC6339251","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:mdpi.com:/1424-8220/19/1/46/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s19010046","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","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:6339251","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6339251","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s19010046","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19010046","pdf_url":"https://www.mdpi.com/1424-8220/19/1/46/pdf?version=1547536116","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":[{"score":0.6200000047683716,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G3824830454","display_name":null,"funder_award_id":"LOF Grant 31211","funder_id":"https://openalex.org/F4320319952","funder_display_name":"Canada Foundation for Innovation"}],"funders":[{"id":"https://openalex.org/F4320319952","display_name":"Canada Foundation for Innovation","ror":"https://ror.org/000az4664"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W230267273","https://openalex.org/W601351931","https://openalex.org/W1590231620","https://openalex.org/W1625884357","https://openalex.org/W1972243698","https://openalex.org/W1975814852","https://openalex.org/W1977976974","https://openalex.org/W2003410899","https://openalex.org/W2021810360","https://openalex.org/W2023540794","https://openalex.org/W2026891225","https://openalex.org/W2057084047","https://openalex.org/W2058991964","https://openalex.org/W2060479667","https://openalex.org/W2067416016","https://openalex.org/W2092943298","https://openalex.org/W2094917509","https://openalex.org/W2098711104","https://openalex.org/W2108688391","https://openalex.org/W2109378408","https://openalex.org/W2115930333","https://openalex.org/W2122093596","https://openalex.org/W2131200679","https://openalex.org/W2134373387","https://openalex.org/W2137183867","https://openalex.org/W2139799964","https://openalex.org/W2150552722","https://openalex.org/W2152982646","https://openalex.org/W2154827155","https://openalex.org/W2161872204","https://openalex.org/W2162264349","https://openalex.org/W2171541961","https://openalex.org/W2308885700","https://openalex.org/W2321887526","https://openalex.org/W2527898971","https://openalex.org/W2532146065","https://openalex.org/W2591002471","https://openalex.org/W2593784398","https://openalex.org/W2654286404","https://openalex.org/W2754221612","https://openalex.org/W2781125408","https://openalex.org/W2963971134"],"related_works":["https://openalex.org/W2105250171","https://openalex.org/W2361801826","https://openalex.org/W2103761320","https://openalex.org/W2358167375","https://openalex.org/W116564642","https://openalex.org/W1981649169","https://openalex.org/W2785359964","https://openalex.org/W1983380679","https://openalex.org/W2547078080","https://openalex.org/W2357354286"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"an":[3,84],"infinite-horizon":[4],"adaptive":[5],"linear":[6],"quadratic":[7],"tracking":[8,17,79],"(ALQT)":[9],"control":[10,27,47,69,181],"scheme":[11,28,48,91],"is":[12,29,81,149,162],"designed":[13,46],"for":[14,108,151],"optimal":[15,68,78],"attitude":[16,64,176,180],"of":[18,35,52,59,62,97,123,154],"a":[19],"quadrotor":[20,39],"unmanned":[21],"aerial":[22],"vehicle":[23],"(UAV).":[24],"The":[25,45,145],"proposed":[26],"experimentally":[30],"validated":[31],"in":[32,38,66,120],"the":[33,53,57,63,77,94,98,109,121,139,152,165],"presence":[34,122],"real-world":[36],"uncertainties":[37],"system":[40,55],"parameters":[41],"and":[42,138,160,178],"sensor":[43,124,128,157],"measurement.":[44],"guarantees":[49],"asymptotic":[50],"stability":[51],"close-loop":[54],"with":[56,83],"help":[58],"complete":[60],"controllability":[61],"dynamics":[65],"applying":[67],"signals.":[70],"To":[71,116],"achieve":[72],"robustness":[73],"against":[74],"parametric":[75],"uncertainties,":[76],"solution":[80],"combined":[82],"online":[85],"least":[86],"squares":[87],"based":[88,134,141,168],"parameter":[89],"identification":[90],"to":[92],"estimate":[93],"instantaneous":[95],"inertia":[96],"quadrotor.":[99],"Sensor":[100],"measurement":[101,125],"noises":[102],"are":[103,131],"also":[104],"taken":[105],"into":[106],"account":[107],"on-board":[110],"Inertia":[111],"Measurement":[112],"Unit":[113],"(IMU)":[114],"sensors.":[115],"improve":[117],"controller":[118,147],"performance":[119,148],"noises,":[126],"two":[127,156],"fusion":[129,158],"techniques":[130],"employed,":[132],"one":[133],"on":[135,142],"Kalman":[136,166],"filtering":[137],"other":[140],"complementary":[143],"filtering.":[144],"ALQT":[146],"compared":[150],"use":[153],"these":[155],"techniques,":[159],"it":[161],"concluded":[163],"that":[164],"filter":[167],"approach":[169],"provides":[170],"less":[171],"mean-square":[172],"estimation":[173],"error,":[174],"better":[175,179],"estimation,":[177],"performance.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":6}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
