{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T12:36:10Z","timestamp":1740141370138,"version":"3.37.3"},"reference-count":45,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2021,5,24]],"date-time":"2021-05-24T00:00:00Z","timestamp":1621814400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,5,24]],"date-time":"2021-05-24T00:00:00Z","timestamp":1621814400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2021,6]]},"DOI":"10.1007\/s10846-021-01405-2","type":"journal-article","created":{"date-parts":[[2021,5,24]],"date-time":"2021-05-24T14:03:47Z","timestamp":1621865027000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Switching Wireless Control for Longitudinal Quadrotor Maneuvers"],"prefix":"10.1007","volume":"102","author":[{"given":"George L.","family":"Giannaris","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nikolaos D.","family":"Kouvakas","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9856-049X","authenticated-orcid":false,"given":"Fotis N.","family":"Koumboulis","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Demosthenes","family":"Vouyioukas","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2021,5,24]]},"reference":[{"key":"1405_CR1","doi-asserted-by":"crossref","unstructured":"Zhang, D., Qi, H., Wu, X., Xie, Y., Xu, J.: The quadrotor dynamic modeling and indoor target tracking control method. Mathematical problems in engineering (2014)","DOI":"10.1155\/2014\/637034"},{"key":"1405_CR2","unstructured":"Magalhaes, G.M., Santos, E.G., Borges, L.M., Cunha, A.E.C.: Comparison and Implementation of Control Strategies for a Quadrotor. In: XIII Simp\u00f3sio Brasileiro de Automa\u00e7\u00e3o Inteligente, pp. 133\u2013138 (2017)"},{"issue":"3","key":"1405_CR3","doi-asserted-by":"publisher","first-page":"229","DOI":"10.3182\/20120328-3-IT-3014.00039","volume":"45","author":"RA Garcia","year":"2012","unstructured":"Garcia, R.A., Rubio, F.R., Ortega, M.G.: Robust PID control of the quadrotor helicopter. IFAC Proceedings Volumes 45(3), 229\u2013234 (2012)","journal-title":"IFAC Proceedings Volumes"},{"issue":"5","key":"1405_CR4","doi-asserted-by":"publisher","first-page":"2436","DOI":"10.1109\/TMECH.2018.2855161","volume":"23","author":"J Moreno-Valenzuela","year":"2018","unstructured":"Moreno-Valenzuela, J., Perez-Alcocer, R., Guerrero-Medina, M., Dzul, A.: Nonlinear PID-type controller for quadrotor trajectory tracking. IEEE\/ASME Trans. Mechatron. 23(5), 2436\u20132447 (2018)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"1405_CR5","doi-asserted-by":"crossref","unstructured":"Chehadeh, M.S., Boiko, I.: Design of rules for in-flight non-parametric tuning of PID controllers for unmanned aerial vehicles. Journal of the Franklin Institute 356(474\u2013491) (2019)","DOI":"10.1016\/j.jfranklin.2018.10.015"},{"key":"1405_CR6","doi-asserted-by":"crossref","unstructured":"Outeiro, P., Cardeira, C., Oliveira, P.: Lqr\/mmae height control system of a quadrotor for constant unknown load transportation. In: Proceedings of the 13th APCA International Conference on Control and Soft Computing (CONTROLO), pp 389\u2013394 (2018)","DOI":"10.1109\/CONTROLO.2018.8514545"},{"key":"1405_CR7","doi-asserted-by":"publisher","first-page":"792","DOI":"10.1002\/acs.2865","volume":"3","author":"A Safaei","year":"2018","unstructured":"Safaei, A., Mahyuddin, M.N.: Optimal model-free control for a generic MIMO nonlinear system with application to autonomous mobile robots. Int. J. Adapt. Control 3, 792\u2013815 (2018)","journal-title":"Int. J. Adapt. Control"},{"key":"1405_CR8","first-page":"41","volume":"13","author":"O Ozturk","year":"2018","unstructured":"Ozturk, O., Ozkan, H.M.: Optimal control of quadrotor unmanned aerial vehicles on time scales. Int. J. Diff Eq 13, 41\u201354 (2018)","journal-title":"Int. J. Diff Eq"},{"key":"1405_CR9","unstructured":"Sabatino, F.: Quadrotor control modeling, nonlinear control design, and simulation. Master\u2019s Degree Project, KTH Electrical Engineering (2015)"},{"key":"1405_CR10","doi-asserted-by":"crossref","unstructured":"Arrosida, H., Effendi, R., Agustinah, T., Pramudijanto, J.: Design of decoupling and nonlinear PD Controller for Cruise Control of a Quadrotor. In: International Seminar on Intelligent Technology and its Applications (ISITIA) (57\u201361) (2015)","DOI":"10.1109\/ISITIA.2015.7219953"},{"key":"1405_CR11","unstructured":"Leonardo, S., Zaira, P., Duque, M.: Nonlinear control of the airship cruise flight phase with dynamical decoupling. In: Electronics, Robotics and Autonomous Mechanics Conference, pp. 473\u2013477 (2008)"},{"key":"1405_CR12","unstructured":"Neto, G.G., dos Santos Barbosa, F., de Oliveira, Jr, J.G., Angelico, B. A.: State feedback decoupling control of a 2DoF Helicopter. In: XIII Simp\u00f3sio Brasileiro de Automa\u00e7\u00e3o Inteligente, pp. 398\u2013403 (2017)"},{"key":"1405_CR13","doi-asserted-by":"crossref","unstructured":"Kouvakas, N.D., Koumboulis, F.N.: Independent velocity control of the longitudinal motion of quadrotors. In: Proceedings of the 7th International Conference on Systems and Control, pp. 194\u2013200 (2018)","DOI":"10.1109\/ICoSC.2018.8587802"},{"key":"1405_CR14","doi-asserted-by":"crossref","unstructured":"Cai, W., She, J., Wu, M., Ohyama, Y.: Disturbance suppression for quadrotor UAV using sliding-mode-observer-based equivalent-input-disturbance approach. ISA Transactions (2019)","DOI":"10.1016\/j.isatra.2019.02.028"},{"key":"1405_CR15","doi-asserted-by":"publisher","first-page":"417","DOI":"10.1016\/j.ast.2019.03.001","volume":"87","author":"X Wang","year":"2019","unstructured":"Wang, X., Sun, S., van Kampen, E.-J., Chu, Q.: Quadrotor fault tolerant incremental sliding mode control driven by sliding mode disturbance observers. Aerosp. Sci. Technol. 87, 417\u2013430 (2019)","journal-title":"Aerosp. Sci. Technol."},{"key":"1405_CR16","doi-asserted-by":"publisher","first-page":"727","DOI":"10.1016\/j.ymssp.2018.11.001","volume":"120","author":"B Wang","year":"2019","unstructured":"Wang, B., Yu, X., Mu, L., Zhang, Y.: Disturbance observer-based adaptive fault-tolerant control for a quadrotor helicopter subject to parametric uncertainties and external disturbances. Mech. Syst. Signal Process. 120, 727\u2013743 (2019)","journal-title":"Mech. Syst. Signal Process."},{"issue":"2","key":"1405_CR17","doi-asserted-by":"publisher","first-page":"1264","DOI":"10.1109\/TIE.2018.2831191","volume":"66","author":"H Rios","year":"2019","unstructured":"Rios, H., Falcon, R., Gonzalez, O.A., Dzul, A.: Continuous sliding-mode control strategies for quadrotor robust tracking: real-time application. IEEE Trans. Ind. Electron. 66(2), 1264\u20131272 (2019)","journal-title":"IEEE Trans. Ind. Electron."},{"key":"1405_CR18","unstructured":"Chen, M., Xiong, S., Wu, Q.: Tracking flight control of quadrotor based on disturbance observer. IEEE Transactions on Systems, Man, and Cybernetics, Systems (2019)"},{"issue":"3","key":"1405_CR19","doi-asserted-by":"publisher","first-page":"2021","DOI":"10.1109\/TIE.2019.2905811","volume":"67","author":"L Qian","year":"2020","unstructured":"Qian, L., Liu, H.H.T.: Path following control of a quadrotor UAV with a cable suspended payload under wind disturbances. IEEE Trans. Ind. Electron. 67(3), 2021\u20132029 (2020)","journal-title":"IEEE Trans. Ind. Electron."},{"key":"1405_CR20","doi-asserted-by":"crossref","unstructured":"Yuan, Y., Cheng, L., Wang, Z., Sun, C.: Position tracking and attitude control for quadrotors via active disturbance rejection control method. Science China: Information Sciences, pp. 62 (2018)","DOI":"10.1007\/s11432-018-9548-5"},{"key":"1405_CR21","doi-asserted-by":"crossref","unstructured":"Baldini, A., Felicetti, R., Freddi, A., Longhi, S., Monteriu, A.: Direct position control of an octarotor unmanned vehicle under wind gust disturbance. In: Proceedings of the 2019 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 684\u2013691 (2019)","DOI":"10.1109\/ICUAS.2019.8798161"},{"key":"1405_CR22","doi-asserted-by":"publisher","first-page":"491","DOI":"10.1007\/s10846-018-0857-x","volume":"95","author":"J Go\u015bli\u0144ski","year":"2019","unstructured":"Go\u015bli\u0144ski, J., Kasi\u0144ski, A., Giernacki, W., Owczarek, P., Gardecki, S.: A study on coaxial quadrotor model parameter estimation: an application of the improved square root unscented Kalman filter. J. Intell. Robot. Syst. 95, 491\u2013510 (2019)","journal-title":"J. Intell. Robot. Syst."},{"issue":"7","key":"1405_CR23","doi-asserted-by":"publisher","first-page":"14","DOI":"10.1109\/MAES.2018.160246","volume":"33","author":"H Shraim","year":"2018","unstructured":"Shraim, H., Awada, A., Youness, R.: Survey on quadrotors: configurations, modeling and identification, control, collision avoidance, fault diagnosis and tolerant control. IEEE Aerosp. Electron. Syst. Mag. 33 (7), 14\u201333 (2018)","journal-title":"IEEE Aerosp. Electron. Syst. Mag."},{"key":"1405_CR24","doi-asserted-by":"crossref","first-page":"444","DOI":"10.1016\/j.amc.2019.01.005","volume":"354","author":"S Xiong","year":"2019","unstructured":"Xiong, S., Chen, M., Wu, Q.: Predictive control for networked switch flight system with packet dropout. Appl. Math. Comput. 354, 444\u2013459 (2019)","journal-title":"Appl. Math. Comput."},{"key":"1405_CR25","doi-asserted-by":"publisher","first-page":"90","DOI":"10.1016\/j.ins.2019.03.081","volume":"491","author":"A Gonzaleza","year":"2019","unstructured":"Gonzaleza, A., Cuencab, A., Balaguerb, V., Garcia, P.: Event-triggered predictor-based control with gain-Scheduling and extended state observer for networked control systems. Inform. Sci. 491, 90\u2013108 (2019)","journal-title":"Inform. Sci."},{"key":"1405_CR26","doi-asserted-by":"publisher","first-page":"33517","DOI":"10.1109\/ACCESS.2019.2904663","volume":"7","author":"L He","year":"2019","unstructured":"He, L., Zhang, J., Hou, Y., Liang, X., Bai, P.: Time-varying formation control for second-order discrete-time multi-agent systems with directed topology and communication delay. IEEE Access 7, 33517\u20133352 (2019)","journal-title":"IEEE Access"},{"key":"1405_CR27","doi-asserted-by":"publisher","first-page":"221","DOI":"10.1007\/s10846-012-9707-4","volume":"70","author":"JA Guerrero","year":"2013","unstructured":"Guerrero, J.A., Garcia, P.C., Challal, Y.: Quadrotors formation control: a wireless medium access aware approach. J. Intell. Robot. Syst. 70, 221\u2013231 (2013)","journal-title":"J. Intell. Robot. Syst."},{"key":"1405_CR28","doi-asserted-by":"crossref","unstructured":"Koumboulis, F.N., Tzierakis, K.G.: Meeting transfer function requirements via static measurement output feedback, vol. 335B, pp 661\u2013667 (1998)","DOI":"10.1016\/S0016-0032(96)00144-5"},{"key":"1405_CR29","doi-asserted-by":"crossref","unstructured":"Kouvakas, N.D., Koumboulis, F.N., Giannaris, G.L., Vouyioukas, D.: Wireless longitudinal motion controller design for quadrotors. In: Proceedings of the 2020 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1350\u20131358 (2020)","DOI":"10.1109\/ICUAS48674.2020.9214005"},{"issue":"13","key":"1405_CR30","doi-asserted-by":"publisher","first-page":"2736","DOI":"10.1016\/j.ins.2007.01.036","volume":"177","author":"FN Koumboulis","year":"2007","unstructured":"Koumboulis, F.N., King, R.E., Stathaki, A.: Logic-based switching controllers \u2013 a stepwise safe switching approach. Inform. Sci. 177(13), 2736\u20132755 (2007)","journal-title":"Inform. Sci."},{"key":"1405_CR31","unstructured":"Koumboulis, F.N., Tzamtzi, M.P.: Multivariable step-wise safe switching controllers. In: Proceedings of the International Conference on Computational Intelligence for Modelling, Control and Automation and International Conference on Intelligent Agents, Web Technologies and Internet Commerce (CIMCA-IAWTIC\u201905) (2005)"},{"key":"1405_CR32","doi-asserted-by":"publisher","first-page":"312","DOI":"10.1016\/j.isatra.2015.11.011","volume":"60","author":"FN Koumboulis","year":"2016","unstructured":"Koumboulis, F.N., Kouvakas, N.D., Giannaris, G.L., Vouyioukas, D.: Independent motion control of a tower crane through wireless sensor and actuator networks. ISA Trans. 60, 312\u2013320 (2016)","journal-title":"ISA Trans."},{"key":"1405_CR33","doi-asserted-by":"crossref","unstructured":"Rosario-Gabriel, I., Cortes, H.R.: Aircraft longitudinal control based on the Lanchester\u2019s Phugoid dynamics model. In: Proceedings of the 2018 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 924\u2013929 (2018)","DOI":"10.1109\/ICUAS.2018.8453350"},{"issue":"1","key":"1405_CR34","doi-asserted-by":"publisher","first-page":"604","DOI":"10.1016\/j.ifacol.2018.05.101","volume":"51","author":"DD Dhadekar","year":"2018","unstructured":"Dhadekar, D.D., Talole, S.E.: Robust fault tolerant longitudinal aircraft control. IFAC-PapersOnLine 51(1), 604\u2013609 (2018)","journal-title":"IFAC-PapersOnLine"},{"key":"1405_CR35","doi-asserted-by":"crossref","unstructured":"Gossmann, F., Svaricek, F., Gabrys, A.: Control of longitudinal aircraft motion with loadcase robustness using LPV-control with partly-measurable parameters. In: Proceedings of the 2018 AIAA Guidance, Navigation, and Control Conference, pp. 1\u201313 (2018)","DOI":"10.2514\/6.2018-0854"},{"key":"1405_CR36","doi-asserted-by":"crossref","unstructured":"Koumboulis, F.N., Kouvakas, N.D.: I\/O Decoupling with simultaneous disturbance rejection of general neutral time delay systems via a measurement output feedback dynamic controller. In: Proceedings of the 21st Mediterranean Conference on Control and Automation (MED), pp. 890\u2013895 (2013)","DOI":"10.1109\/MED.2013.6608827"},{"key":"1405_CR37","doi-asserted-by":"crossref","unstructured":"Giannaris, G.L., Kouvakas, N.D., Koumboulis, F.N., Vouyioukas, D.: Towards remote control of planar redundant robotic manipulators. In: Proceedings of the IEEE 21st International Conference on Intelligent Engineering Systems (INES 2017), pp. 231\u2013236 (2017)","DOI":"10.1109\/INES.2017.8118561"},{"key":"1405_CR38","doi-asserted-by":"crossref","unstructured":"Koumboulis, F.N., Kouvakas, N.D.: A three term controller for ride comfort improvement. In: Proceedings of the 19th Mediterranean Conference on Control & Automation (MED), pp. 114\u2013119 (2011)","DOI":"10.1109\/MED.2011.5983223"},{"key":"1405_CR39","doi-asserted-by":"crossref","unstructured":"Derafa, L., Madani, T., Benallegue, A.: Dynamic modelling and experimental identification of four rotors helicopter parameters. In: Proceedings of the IEEE International Conference on Industrial Technology (ICIT) (2006)","DOI":"10.1109\/ICIT.2006.372515"},{"key":"1405_CR40","unstructured":"Hakim, T.M.I., Arifianto, O.: Implementation of dryden continuous turbulence model into simulink for LSA-02 flight test simulation proceedings of the 5th international seminar of aerospace science and technology (2017)"},{"issue":"3","key":"1405_CR41","doi-asserted-by":"publisher","first-page":"16","DOI":"10.1109\/MCS.2003.1200240","volume":"23","author":"A Cervin","year":"2003","unstructured":"Cervin, A., Henriksson, D., Lincoln, B., Eker, J., \u00c5rz\u00e9n, K.-E.: How does control timing affect performance? analysis and simulation of timing using Jitterbug and TrueTime. IEEE Control. Syst. Mag. 23(3), 16\u201330 (2003)","journal-title":"IEEE Control. Syst. Mag."},{"key":"1405_CR42","doi-asserted-by":"crossref","unstructured":"Kaya, D., Kutay, A.T.: Aerodynamic modeling and parameter estimation of a quadrotor helicopter. In: Proceedings of the AIAA Atmospheric Flight Mechanics Conference (2014)","DOI":"10.2514\/6.2014-2558"},{"key":"1405_CR43","unstructured":"Davis, E.D.: Aerodynamic force interactions and measurements for micro quadrotors, PhD Thesis. School of Information Technology and Electrical Engineering The University of Queensland (2018)"},{"key":"1405_CR44","doi-asserted-by":"publisher","first-page":"149","DOI":"10.1088\/0026-1394\/45\/2\/004","volume":"45","author":"A Picard","year":"2008","unstructured":"Picard, A., Davis, R.S., G\u00e4aser, M., Fujii, K.: Revised formula for the density of moist air (CIPM-2007). Metrologia 45, 149\u2013155 (2008)","journal-title":"Metrologia"},{"key":"1405_CR45","doi-asserted-by":"crossref","unstructured":"Koumboulis, F.N., Kouvakas, N.D.: Block decoupling of general neutral multi delay systems. Proceedings of the International Conference on Emerging Technologies and Factory Automation (ETFA) (2011)","DOI":"10.1109\/ETFA.2011.6059072"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01405-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-021-01405-2\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01405-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,11,4]],"date-time":"2023-11-04T02:57:06Z","timestamp":1699066626000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-021-01405-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,24]]},"references-count":45,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2021,6]]}},"alternative-id":["1405"],"URL":"https:\/\/doi.org\/10.1007\/s10846-021-01405-2","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2021,5,24]]},"assertion":[{"value":"4 October 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"26 April 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"24 May 2021","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"This paper presents theoretical and simulation results. No ethical approval is required.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics approval"}},{"value":"1) No research grants from funding agencies and\/or support by organizations has been received that may gain or lose financially through publication of this manuscript.2) There are no recent (while engaged in the research project), present or anticipated employment by any organization that may gain or lose financially through publication of this manuscript.3) There are no stocks or shares in companies (including holdings of spouse and\/or children) that may gain or lose financially through publication of this manuscript; consultation fees or other forms of remuneration from organizations that may gain or lose financially; patents or patent applications whose value may be affected by publication of this manuscript.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Competing interests"}}],"article-number":"42"}}