{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,19]],"date-time":"2025-09-19T09:05:05Z","timestamp":1758272705811,"version":"3.40.4"},"reference-count":34,"publisher":"Springer Science and Business Media LLC","issue":"1-4","license":[{"start":{"date-parts":[[2013,10,12]],"date-time":"2013-10-12T00:00:00Z","timestamp":1381536000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2014,1]]},"DOI":"10.1007\/s10846-013-9962-z","type":"journal-article","created":{"date-parts":[[2013,10,11]],"date-time":"2013-10-11T17:44:32Z","timestamp":1381513472000},"page":"81-97","source":"Crossref","is-referenced-by-count":19,"title":["Hard Real-Time Implementation of a Nonlinear Controller for the Quadrotor Helicopter"],"prefix":"10.1007","volume":"73","author":[{"given":"J. Rogelio","family":"Guadarrama-Olvera","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jos\u00e9 J.","family":"Corona-S\u00e1nchez","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"H.","family":"Rodr\u00edguez-Cort\u00e9s","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2013,10,12]]},"reference":[{"key":"9962_CR1","unstructured":"Al-Hiddabi, S.A.: Quadrotor control using feedback linearization with dynamic extension. In: 6th International Symposium on Mechatronics and its Applications, 2009. ISMA \u201909. pp. 1\u20133 (2009)"},{"key":"9962_CR2","unstructured":"Baruah, S.K., Mok, A.K., Rosier, L.E.: Preemptively scheduling hard-real-time sporadic tasks on one processor. In: 11th Real-Time Systems Symposium, 1990. Proceedings, pp. 182\u2013190. IEEE (1990)"},{"issue":"4","key":"9962_CR3","doi-asserted-by":"crossref","first-page":"301","DOI":"10.1007\/BF01995675","volume":"2","author":"SK Baruah","year":"1990","unstructured":"Baruah, S.K., Rosier, L.E., Howell, R.R.: Algorithms and complexity concerning the preemptive scheduling of periodic, real-time tasks on one processor. Real-Time Syst. 2(4), 301\u2013324 (1990)","journal-title":"Real-Time Syst."},{"issue":"1","key":"9962_CR4","doi-asserted-by":"crossref","first-page":"63","DOI":"10.1016\/S0167-6911(99)00090-0","volume":"39","author":"SP Bhat","year":"2000","unstructured":"Bhat, S.P., Bernstein, D.S.: A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon. Syst. Control Lett. 39(1), 63\u201370 (2000)","journal-title":"Syst. Control Lett."},{"key":"9962_CR5","doi-asserted-by":"crossref","unstructured":"Bouabdallah, S., Noth, A., Siegwart, R.: Pid vs lq control techniques applied to an indoor micro quadrotor. In: 2004 IEEE\/RSJ International Conference on Intelligent Robots and Systems. (IROS 2004). Proceedings, vol.\u00a03, pp. 2451\u20132456 (2004)","DOI":"10.1109\/IROS.2004.1389776"},{"key":"9962_CR6","unstructured":"Brown, T., Pasetti, A., Pree, W., Henzinger, T.A., Kirsch, C.M.: A reusable and platform-independent framework for distributed control systems. In: 20th Conference Digital Avionics Systems, 2001. DASC, vol. 2, pp. 6A1\/1\u20136A1\/11 (2001)"},{"key":"9962_CR7","doi-asserted-by":"crossref","unstructured":"Buttazzo, G.C.: Real-time scheduling and resource management. Handbook of Real-Time and Embedded Systems (2008)","DOI":"10.1201\/9781420011746.pt1"},{"key":"9962_CR8","doi-asserted-by":"crossref","unstructured":"Campbell, J., Hamilton, J., Iskandarani, M., Givigi, S.: A systems approach for the development of a quadrotor aircraft. In: 2012 IEEE International Systems Conference (SysCon), pp. 1\u20137 (2012)","DOI":"10.1109\/SysCon.2012.6189536"},{"issue":"4","key":"9962_CR9","doi-asserted-by":"crossref","first-page":"510","DOI":"10.1109\/TCST.2004.825052","volume":"12","author":"P Castillo","year":"2004","unstructured":"Castillo, P., Dzul, A., Lozano, R.: Real-time stabilization and tracking of a four-rotor mini rotorcraft. IEEE Trans. Control Syst. Technol. 12(4), 510\u2013516 (2004)","journal-title":"IEEE Trans. Control Syst. Technol."},{"issue":"4","key":"9962_CR10","doi-asserted-by":"crossref","first-page":"2832","DOI":"10.1109\/TAES.2012.6324664","volume":"48","author":"A Chamseddine","year":"2012","unstructured":"Chamseddine, A., Zhang, Y., Rabbath, C.A., Join, C., Theilliol, D.: Flatness-based trajectory planning\/ replanning for a quadrotor unmanned aerial vehicle. IEEE Trans. Aerosp. Electron. Syst. 48(4), 2832\u20132848 (2012)","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"issue":"3","key":"9962_CR11","doi-asserted-by":"crossref","first-page":"30","DOI":"10.1109\/MCS.2011.940459","volume":"31","author":"NA Chaturvedi","year":"2011","unstructured":"Chaturvedi, N.A., Sanyal, A.K., McClamroch, N.H.: Rigid-body attitude control. IEEE Control Syst. 31(3), 30\u201351 (2011)","journal-title":"IEEE Control Syst."},{"key":"9962_CR12","doi-asserted-by":"crossref","first-page":"39","DOI":"10.1007\/s10846-012-9760-z","volume":"70","author":"JJ Corona-S\u00e1nchez","year":"2013","unstructured":"Corona-S\u00e1nchez, J.J., Rodr\u00edguez-Cort\u00e9s, H.: Trajectory tracking control for a rotary wing vehicle powered by four rotors. J. Intell. Robot. Syst. 70, 39\u201350 (2013)","journal-title":"J. Intell. Robot. Syst."},{"issue":"1","key":"9962_CR13","doi-asserted-by":"crossref","first-page":"50","DOI":"10.1109\/TNN.2009.2034145","volume":"21","author":"T Dierks","year":"2010","unstructured":"Dierks, T., Jagannathan, S.: Output feedback control of a quadrotor UAV using neural networks. IEEE Trans. Neural Netw. 21(1), 50\u201366 (2010)","journal-title":"IEEE Trans. Neural Netw."},{"issue":"99","key":"9962_CR14","first-page":"1","volume":"PP","author":"ZT Dydek","year":"2012","unstructured":"Dydek, Z.T., Annaswamy, A.M., Lavretsky, E.: Adaptive control of quadrotor UAVs: A design trade study with flight evaluations. IEEE Trans. Control Syst. Technol. PP(99), 1 (2012)","journal-title":"IEEE Trans. Control Syst. Technol"},{"key":"9962_CR15","unstructured":"Altug, E., Ostrowski, J.P., Mahony, R.: Control of a quadrotor helicopter using visual feedback. In: IEEE International Conference on Robotics and Automation, 2002. Proceedings. ICRA \u201902, vol.\u00a01, pp. 72\u201377 (2002)"},{"issue":"2","key":"9962_CR16","doi-asserted-by":"crossref","first-page":"354","DOI":"10.1109\/TII.2011.2123906","volume":"7","author":"MO Efe","year":"2011","unstructured":"Efe, M.O.: Neural network assisted computationally simple pi d control of a quadrotor UAV. IEEE Trans. Ind. Inform. 7(2), 354\u2013361 (2011)","journal-title":"IEEE Trans. Ind. Inform."},{"key":"9962_CR17","doi-asserted-by":"crossref","unstructured":"Estrada, S.A., Liceaga-Castro, E., Rodr\u00edguez-Cort\u00e9s, H.: Nonlinear motion control of a rotary wing vehicle powered by four rotors. In: 2006 3rd International Conference on Electrical and Electronics Engineering, pp. 1\u20136 (2006)","DOI":"10.1109\/ICEEE.2006.251910"},{"key":"9962_CR18","volume-title":"Aerodynamics of the Helicopter","author":"A Gessow","year":"1978","unstructured":"Gessow, A., Myers, C.G. Jr.: Aerodynamics of the Helicopter. Frederick Ungar Publishing Co., New York (1978)"},{"issue":"1","key":"9962_CR19","doi-asserted-by":"crossref","first-page":"84","DOI":"10.1109\/JPROC.2002.805825","volume":"91","author":"TA Henzinger","year":"2003","unstructured":"Henzinger, T.A., Horowitz, B., Kirsch, C.M.: Giotto: a time-triggered language for embedded programming. Proc. IEEE 91(1), 84\u201399 (2003)","journal-title":"Proc. IEEE"},{"issue":"1","key":"9962_CR20","doi-asserted-by":"crossref","first-page":"50","DOI":"10.1109\/MCS.2003.1172829","volume":"23","author":"TA Henzinger","year":"2003","unstructured":"Henzinger, T.A., Kirsch, C.M., Sanvido, M.A.A., Pree, W.: From control models to real-time code using giotto. IEEE Control Syst. 23(1), 50\u201364 (2003)","journal-title":"IEEE Control Syst."},{"key":"9962_CR21","doi-asserted-by":"crossref","first-page":"166","DOI":"10.1007\/3-540-45449-7_12","volume-title":"Embedded Software","author":"TA Henzinger","year":"2001","unstructured":"Henzinger, T.A., Horowitz, B., Kirsch, C.M.: Giotto: A time-triggered language for embedded programming. In: Embedded Software, pp. 166\u2013184. Springer, New York (2001)"},{"issue":"9","key":"9962_CR22","doi-asserted-by":"crossref","first-page":"1023","DOI":"10.1016\/j.conengprac.2011.04.005","volume":"19","author":"GM Hoffmann","year":"2011","unstructured":"Hoffmann, G.M., Huang, H., Waslander, S.L., Tomlin, C.J.: Precision flight control for a multi-vehicle quadrotor helicopter testbed. Control Eng. Pract. 19(9), 1023\u20131036 (2011)","journal-title":"Control Eng. Pract."},{"key":"9962_CR23","doi-asserted-by":"crossref","unstructured":"Horowitz, B., Liebman, J., Ma, C., Koo, T.J., Henzinger, T.A., Sangiovanni-Vincentelli, A., Sastry, S.: Embedded-software design and system integration for rotorcraft UAV using platforms. In: Proc. 15th IFAC World Congress (2002)","DOI":"10.3182\/20020721-6-ES-1901.01628"},{"key":"9962_CR24","doi-asserted-by":"crossref","DOI":"10.1002\/0471648299","volume-title":"Real-Time Systems Design and Analysis","author":"PA Laplante","year":"2004","unstructured":"Laplante, P.A.: Real-Time Systems Design and Analysis. Wiley, New York (2004)"},{"key":"9962_CR25","volume-title":"Real-time Systems","author":"JWS Liu","year":"2000","unstructured":"Liu, J.W.S.: Real-time Systems. Prentice Hall, Englewood Cliffs, NJ (2000)"},{"issue":"6","key":"9962_CR26","doi-asserted-by":"crossref","first-page":"927","DOI":"10.1016\/j.mechatronics.2011.02.007","volume":"21","author":"C Nicol","year":"2011","unstructured":"Nicol, C., Macnab, C.J.B., Ramirez-Serrano, A.: Robust adaptive control of a quadrotor helicopter. Mechatronics 21(6), 927\u2013938 (2011)","journal-title":"Mechatronics"},{"key":"9962_CR27","volume-title":"Modern Control Engineering","author":"K Ogata","year":"2009","unstructured":"Ogata, K.: Modern Control Engineering, 5th edn. Prentice Hall, Englewood Cliffs, NJ (2009)","edition":"5"},{"issue":"7","key":"9962_CR28","doi-asserted-by":"crossref","first-page":"691","DOI":"10.1016\/j.conengprac.2010.02.008","volume":"18","author":"P Pounds","year":"2010","unstructured":"Pounds, P., Mahony, R., Corke, P.: Modelling and control of a large quadrotor robot. Control Eng. Pract. 18(7), 691\u2013699 (2010) (Special Issue on Aerial Robotics)","journal-title":"Control Eng. Pract."},{"issue":"1","key":"9962_CR29","doi-asserted-by":"crossref","first-page":"29","DOI":"10.1016\/j.automatica.2009.10.018","volume":"46","author":"GV Raffo","year":"2010","unstructured":"Raffo, G.V., Ortega, M.G., Rubio, F.R.: An integral predictive\/nonlinear h8 control structure for a quadrotor helicopter. Automatica 46(1), 29\u201339 (2010)","journal-title":"Automatica"},{"key":"9962_CR30","unstructured":"Roskam, J.: Airplane Flight Dynamics and Automatic Flight Controls, Part I. Roskam Aviation and Engineering Corporation (1982)"},{"key":"9962_CR31","doi-asserted-by":"crossref","unstructured":"Salazar-Cruz, S., Palomino, A., Lozano, R.: Trajectory tracking for a four rotor mini-aircraft. In: 44th IEEE Conference on Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC \u201905, pp. 2505\u20132510 (2005)","DOI":"10.1109\/CDC.2005.1582539"},{"issue":"3","key":"9962_CR32","doi-asserted-by":"crossref","first-page":"562","DOI":"10.1109\/TCST.2006.872519","volume":"14","author":"A Tayebi","year":"2006","unstructured":"Tayebi, A., McGilvray, S.: Attitude stabilization of a vtol quadrotor aircraft. IEEE Trans. Control Syst. Technol. 14(3), 562\u2013571 (2006)","journal-title":"IEEE Trans. Control Syst. Technol."},{"issue":"3","key":"9962_CR33","doi-asserted-by":"crossref","first-page":"46","DOI":"10.1109\/MRA.2012.2206473","volume":"19","author":"T Tomic","year":"2012","unstructured":"Tomic, T., Schmid, K., Lutz, P., Domel, A., Kassecker, M., Mair, E., Grixa, I.L., Ruess, F., Suppa, M., Burschka, D.: Toward a fully autonomous UAV: research platform for indoor and outdoor urban search and rescue. IEEE Robot. Autom. Mag. 19(3), 46\u201356 (2012)","journal-title":"IEEE Robot. Autom. Mag."},{"key":"9962_CR34","unstructured":"Waslander, S.L., Hoffmann, G.M., Jang, J.S., Tomlin, C.J.: Multi-agent quadrotor testbed control design: integral sliding mode vs. reinforcement learning. In: 2005 IEEE\/RSJ International Conference on Intelligent Robots and Systems, 2005. (IROS 2005), pp. 3712\u20133717 (2005)"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-013-9962-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-013-9962-z\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-013-9962-z","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,4,30]],"date-time":"2025-04-30T16:36:47Z","timestamp":1746031007000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-013-9962-z"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,10,12]]},"references-count":34,"journal-issue":{"issue":"1-4","published-print":{"date-parts":[[2014,1]]}},"alternative-id":["9962"],"URL":"https:\/\/doi.org\/10.1007\/s10846-013-9962-z","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2013,10,12]]}}}