{"id":"https://openalex.org/W7147214527","doi":"https://doi.org/10.48550/arxiv.2603.27576","title":"MPC-Based Trajectory Tracking for a Quadrotor UAV with Uniform Semi-Global Asymptotic Stability Guarantees","display_name":"MPC-Based Trajectory Tracking for a Quadrotor UAV with Uniform Semi-Global Asymptotic Stability Guarantees","publication_year":2026,"publication_date":"2026-03-29","ids":{"openalex":"https://openalex.org/W7147214527","doi":"https://doi.org/10.48550/arxiv.2603.27576"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.27576","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.27576","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":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.2603.27576","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5132573648","display_name":"Qian Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Qian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055394539","display_name":"M. Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Miaomiao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5132715901","display_name":"Abdelhamid Tayebi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tayebi, Abdelhamid","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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.8694000244140625,"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":0.8694000244140625,"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":0.05770000070333481,"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":0.009600000455975533,"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":0.8385000228881836},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7749999761581421},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.756600022315979},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5971999764442444},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5679000020027161},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5242999792098999},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4596000015735626},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.421099990606308}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8385000228881836},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7749999761581421},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.756600022315979},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5971999764442444},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5679000020027161},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5242999792098999},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4596000015735626},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45649999380111694},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.421099990606308},{"id":"https://openalex.org/C41949839","wikidata":"https://www.wikidata.org/wiki/Q1756677","display_name":"Stability theory","level":3,"score":0.39070001244544983},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.38359999656677246},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3400000035762787},{"id":"https://openalex.org/C3018623182","wikidata":"https://www.wikidata.org/wiki/Q154021","display_name":"Output feedback","level":3,"score":0.3328999876976013},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.33230000734329224},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32899999618530273},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3000999987125397},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.29420000314712524},{"id":"https://openalex.org/C2984730371","wikidata":"https://www.wikidata.org/wiki/Q6501221","display_name":"Feedback controller","level":3,"score":0.2903999984264374},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.28380000591278076},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.27810001373291016},{"id":"https://openalex.org/C151376022","wikidata":"https://www.wikidata.org/wiki/Q168698","display_name":"Exponential function","level":2,"score":0.26260000467300415}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.27576","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.27576","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.27576","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.27576","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":false,"raw_source_name":null,"raw_type":"Preprint"},"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],"proposes":[2],"a":[3,20,62,73,90],"model":[4,64],"predictive":[5,65],"trajectory":[6],"tracking":[7,99],"approach":[8,17],"for":[9],"quadrotors":[10],"subject":[11],"to":[12,43],"input":[13,58,70],"constraints.":[14],"Our":[15],"proposed":[16,123],"relies":[18],"on":[19],"hierarchical":[21],"control":[22,57,66,74],"strategy":[23],"with":[24,68,77],"an":[25,36],"outer-loop":[26,49],"feedback":[27,38],"generating":[28],"the":[29,40,44,48,52,55,86,101,108,119,122],"required":[30],"thrust":[31],"and":[32,35,72],"desired":[33,45,102],"attitude":[34,42],"inner-loop":[37,87],"regulating":[39],"actual":[41],"one.":[46],"For":[47,85],"translational":[50],"dynamics,":[51,89],"generation":[53],"of":[54,100,121],"virtual":[56],"is":[59,83,94,112],"formulated":[60],"as":[61],"constrained":[63],"problem":[67],"time-varying":[69],"constraints":[71],"strategy,":[75],"endowed":[76],"uniform":[78],"global":[79],"asymptotic":[80],"stability":[81],"guarantees,":[82],"proposed.":[84],"rotational":[88],"hybrid":[91],"geometric":[92],"controller":[93],"adopted,":[95],"achieving":[96],"semi-global":[97],"exponential":[98],"attitude.":[103],"Finally,":[104],"we":[105],"prove":[106],"that":[107],"overall":[109],"cascaded":[110],"system":[111],"semi-globally":[113],"asymptotically":[114],"stable.":[115],"Simulation":[116],"results":[117],"illustrate":[118],"effectiveness":[120],"approach.":[124]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-04-02T00:00:00"}