{"id":"https://openalex.org/W7134890314","doi":"https://doi.org/10.48550/arxiv.2603.08863","title":"Adaptive SINDy: Residual Force System Identification Based UAV Disturbance Rejection","display_name":"Adaptive SINDy: Residual Force System Identification Based UAV Disturbance Rejection","publication_year":2026,"publication_date":"2026-03-09","ids":{"openalex":"https://openalex.org/W7134890314","doi":"https://doi.org/10.48550/arxiv.2603.08863"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.08863","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.08863","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.08863","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128697119","display_name":"Fawad Mehboob","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mehboob, Fawad","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128717776","display_name":"Amir Atef Habel","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Habel, Amir Atef","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114102036","display_name":"Roohan Ahmed Khan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Khan, Roohan Ahmed","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128693449","display_name":"Mikhail Derevianchenko","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Derevianchenko, Mikhail","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128749936","display_name":"Clement Fortin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fortin, Clement","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128777427","display_name":"Dzmitry Tsetserukou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tsetserukou, Dzmitry","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"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/T12125","display_name":"Aerospace and Aviation Technology","score":0.5379999876022339,"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/T12125","display_name":"Aerospace and Aviation Technology","score":0.5379999876022339,"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":0.3066999912261963,"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/T11236","display_name":"Control Systems and Identification","score":0.017999999225139618,"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":0.7664999961853027},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6046000123023987},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.5343000292778015},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4848000109195709},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4546000063419342},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4530999958515167},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.4474000036716461},{"id":"https://openalex.org/keywords/system-identification","display_name":"System identification","score":0.4471000134944916},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.42010000348091125}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7664999961853027},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6046000123023987},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.5343000292778015},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5188000202178955},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4848000109195709},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4546000063419342},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4530999958515167},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.4474000036716461},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.4471000134944916},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.42010000348091125},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3707999885082245},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.36660000681877136},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.3409000039100647},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.3353999853134155},{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.3334999978542328},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.3328000009059906},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.32030001282691956},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3061000108718872},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.30469998717308044},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.28459998965263367},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.27709999680519104},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26989999413490295},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.26649999618530273},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2653000056743622},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2648000121116638},{"id":"https://openalex.org/C145249878","wikidata":"https://www.wikidata.org/wiki/Q2835868","display_name":"Recursive least squares filter","level":3,"score":0.26109999418258667},{"id":"https://openalex.org/C102248274","wikidata":"https://www.wikidata.org/wiki/Q168388","display_name":"Adaptive filter","level":2,"score":0.26019999384880066}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.08863","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.08863","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.08863","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.08863","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.8335995078086853,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0,219],"stability":[1],"and":[2,38,54,86,92,128,138,146,165,174,196,199,208,215],"control":[3,22,57,125],"of":[4,16,35,83,97,107,114,153,191,205],"Unmanned":[5],"Aerial":[6],"Vehicles":[7],"(UAVs)":[8],"in":[9,132],"a":[10,14,20,95,104,119,133,162,200,224,230],"turbulent":[11,134,166],"environment":[12,145,233],"is":[13,27,45,94],"matter":[15],"great":[17],"concern.":[18,98],"Devising":[19],"robust":[21],"algorithm":[23],"to":[24,30,66,126,155,193],"reject":[25,129],"disturbances":[26,131],"challenging":[28],"due":[29],"the":[31,40,71,171],"highly":[32,163,231],"nonlinear":[33],"nature":[34],"wind":[36,130,151],"dynamics,":[37],"modeling":[39,82],"dynamics":[41],"using":[42,51,111],"analytical":[43],"techniques":[44,50],"not":[46],"straightforward.":[47],"While":[48],"traditional":[49],"disturbance":[52,87],"observers":[53],"classical":[55],"adaptive":[56,124],"have":[58],"shown":[59],"some":[60],"progress,":[61],"they":[62],"are":[63,77],"mostly":[64],"limited":[65],"relatively":[67],"non-complex":[68],"environments.":[69],"On":[70],"other":[72],"hand,":[73],"learning":[74],"based":[75],"approaches":[76],"increasingly":[78],"being":[79],"used":[80],"for":[81,234],"residual":[84],"forces":[85],"rejection;":[88],"however,":[89],"their":[90],"generalization":[91],"interpretability":[93],"factor":[96],"To":[99],"this":[100],"end,":[101],"we":[102],"propose":[103],"novel":[105],"integration":[106],"data-driven":[108],"system":[109],"identification":[110],"Sparse":[112],"Identification":[113],"Non-Linear":[115],"Dynamics":[116],"(SINDy)":[117],"with":[118,150],"Recursive":[120],"Least":[121],"Square":[122],"(RLS)":[123],"adapt":[127],"environment.":[135,167],"We":[136],"tested":[137],"validated":[139],"our":[140],"approach":[141],"on":[142,147,177,213,223],"Gazebo":[143],"harmonic":[144],"real":[148],"flights":[149],"speeds":[152],"up":[154,192],"2":[156],"m/s":[157],"from":[158],"four":[159],"directions,":[160],"creating":[161],"dynamic":[164,232],"Adaptive":[168],"SINDy":[169],"outperformed":[170],"baseline":[172],"PID":[173],"INDI":[175],"controllers":[176],"several":[178],"trajectory":[179,236],"tracking":[180],"error":[181,189,203],"metrics":[182],"without":[183],"crashing.":[184],"A":[185],"root":[186],"mean":[187,201],"square":[188],"(RMSE)":[190],"12.2":[194],"cm":[195,207,210],"17.6":[197],"cm,":[198],"absolute":[202],"(MAE)":[204],"13.7":[206],"10.5":[209],"were":[211],"achieved":[212],"circular":[214],"lemniscate":[216],"trajectories,":[217],"respectively.":[218],"validation":[220],"was":[221],"performed":[222],"very":[225],"lightweight":[226],"Crazyflie":[227],"drone":[228],"under":[229],"complex":[235],"tracking.":[237]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-03-12T00:00:00"}