{"id":"https://openalex.org/W7134812799","doi":"https://doi.org/10.48550/arxiv.2603.08045","title":"Trajectory Tracking Control Design for Autonomous Helicopters with Guaranteed Error Bounds","display_name":"Trajectory Tracking Control Design for Autonomous Helicopters with Guaranteed Error Bounds","publication_year":2026,"publication_date":"2026-03-09","ids":{"openalex":"https://openalex.org/W7134812799","doi":"https://doi.org/10.48550/arxiv.2603.08045"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.08045","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007649280","display_name":"Philipp Schitz","orcid":"https://orcid.org/0000-0001-7365-3430"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Schitz, Philipp","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022341360","display_name":"Johann C. Dauer","orcid":"https://orcid.org/0000-0002-8287-2376"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dauer, Johann C.","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5035867976","display_name":"Paolo Mercorelli","orcid":"https://orcid.org/0000-0003-3288-5280"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mercorelli, Paolo","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5007649280"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.7727000117301941,"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":0.7727000117301941,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.04780000075697899,"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":0.03739999979734421,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7138000130653381},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.659500002861023},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.638700008392334},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.47450000047683716},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4523000121116638},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4413999915122986},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.42969998717308044},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4284999966621399}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7138000130653381},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.659500002861023},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.638700008392334},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5027999877929688},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.47450000047683716},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4523000121116638},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4413999915122986},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.42969998717308044},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4284999966621399},{"id":"https://openalex.org/C57489055","wikidata":"https://www.wikidata.org/wiki/Q190046","display_name":"Ellipsoid","level":2,"score":0.3921999931335449},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3894999921321869},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3765999972820282},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.3747999966144562},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.33980000019073486},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.3386000096797943},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.2985999882221222},{"id":"https://openalex.org/C87698059","wikidata":"https://www.wikidata.org/wiki/Q1808960","display_name":"LTI system theory","level":3,"score":0.2865999937057495},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2678000032901764},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.25679999589920044},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2556000053882599}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.08045","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2603.08045","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.08045","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2603.08045","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,29,87],"systematic":[4],"framework":[5],"for":[6,14],"computing":[7],"formally":[8],"guaranteed":[9],"trajectory":[10,65],"tracking":[11,82],"error":[12,32,56,79],"bounds":[13,57,80],"autonomous":[15],"helicopters":[16],"based":[17],"on":[18,27,86],"Robust":[19],"Positive":[20],"Invariant":[21],"(RPI)":[22],"sets.":[23],"The":[24],"approach":[25],"focuses":[26],"establishing":[28],"closed-loop":[30],"translational":[31],"dynamics":[33],"which":[34],"is":[35],"cast":[36],"into":[37],"polytopic":[38],"linear":[39],"parameter-varying":[40],"form":[41],"with":[42,72],"bounded":[43],"additive":[44],"and":[45,81,105],"state-dependent":[46],"disturbances.":[47],"Ellipsoidal":[48],"RPI":[49],"sets":[50],"are":[51,70],"computed,":[52],"yielding":[53],"explicit":[54],"position":[55],"suitable":[58],"as":[59],"certified":[60],"buffer":[61],"zones":[62],"in":[63,107],"upper-level":[64],"planning.":[66],"Three":[67],"controller":[68],"architectures":[69,94],"compared":[71],"respect":[73,95],"to":[74],"the":[75,96],"conservatism":[76,106],"of":[77],"their":[78],"performance.":[83],"Simulation":[84],"results":[85],"nonlinear":[88],"helicopter":[89],"model":[90],"demonstrate":[91],"that":[92],"all":[93],"derived":[97],"bounds,":[98],"while":[99],"highlighting":[100],"trade-offs":[101],"between":[102],"dynamical":[103],"fidelity":[104],"invariant":[108],"set":[109],"computation.":[110]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-03-11T00:00:00"}