{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,1]],"date-time":"2026-02-01T05:20:59Z","timestamp":1769923259412,"version":"3.49.0"},"reference-count":37,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2022,7,29]],"date-time":"2022-07-29T00:00:00Z","timestamp":1659052800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,7,29]],"date-time":"2022-07-29T00:00:00Z","timestamp":1659052800000},"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":[[2022,8]]},"DOI":"10.1007\/s10846-022-01699-w","type":"journal-article","created":{"date-parts":[[2022,7,29]],"date-time":"2022-07-29T11:11:35Z","timestamp":1659093095000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["LQR Controller for Stabilization of Bio-Inspired Flapping Wing UAV in Gust Environments"],"prefix":"10.1007","volume":"105","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3443-8284","authenticated-orcid":false,"given":"S. H.","family":"Abbasi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"A.","family":"Mahmood","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"A.","family":"Khaliq","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Muhammad","family":"Imran","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2022,7,29]]},"reference":[{"key":"1699_CR1","doi-asserted-by":"publisher","unstructured":"Mohamed, A., Watkins, S., OL, M. V., Jones, A. R.: Flight-relevant gusts: computation-derived guidelines for micro air vehicle ground test unsteady aerodynamics. J. Aircraft 58(3), (2021). https:\/\/doi.org\/10.2514\/1.C035920","DOI":"10.2514\/1.C035920"},{"key":"1699_CR2","first-page":"1","volume":"5\u201312","author":"J Ratti","year":"2011","unstructured":"Ratti, J., Jung-Ho, M., Vachtsevanos, G.: Towards low-power, low-profile avionics architecture and control for micro aerial vehicles. Aerospace Conference IEEE 5\u201312, 1\u20138 (2011)","journal-title":"Aerospace Conference IEEE"},{"key":"1699_CR3","unstructured":"Barron Associates.: Adaptive control for synthetic jet actuators, URL: www.barron-associates.com\/adaptive-control-of-synthetic-jet-actuators\/. Accessed 26 Dec 2021"},{"key":"1699_CR4","doi-asserted-by":"publisher","first-page":"108965","DOI":"10.1016\/j.oceaneng.2021.108965","volume":"229","author":"L Li","year":"2021","unstructured":"Li, L., Zhou, B., Huang, H., Sun, H.: Vortex generator design and numerical investigation for wake non-uniformity and cavitation fluctuation pressure reduction. Ocean Eng. 229, 108965 (2021). https:\/\/doi.org\/10.1016\/j.oceaneng.2021.108965. (ISSN 0029-8018)","journal-title":"Ocean Eng."},{"key":"1699_CR5","doi-asserted-by":"publisher","unstructured":"Tejaswi, K. C., Kang, C. - K., Lee, T.: \"Dynamics and Control of a Flapping Wing UAV with Abdomen Undulation Inspired by Monarch Butterfly,\" 2021 American Control Conference (ACC), pp. 66\u201371, (2021). https:\/\/doi.org\/10.23919\/ACC50511.2021.9483293","DOI":"10.23919\/ACC50511.2021.9483293"},{"key":"1699_CR6","doi-asserted-by":"crossref","unstructured":"Blower, C. J., Wickenheiser, A. M.: \u201cThe Development of a Closed-loop Flight Controller for Localized Flow Control and Gust Alleviation Using Biomimetic Feathers on Aircraft Wings,\u201d Proceedings: ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS2011\u20135109, (2011)","DOI":"10.1115\/SMASIS2011-5109"},{"key":"1699_CR7","unstructured":"Moore, N.: Birds, bats and insects hold secrets for aerospace engineers, URL: ns.mich.edu\/htdocs\/releases\/story.php?id=6312. Accessed 2 Feb 2022"},{"key":"1699_CR8","doi-asserted-by":"publisher","first-page":"221","DOI":"10.1242\/jeb.28.2.221","volume":"28","author":"FM Osborne","year":"1950","unstructured":"Osborne, F.M.: Aerodynamics of flapping light with applications to insects. J. Exp. Biol. 28, 221\u2013245 (1950)","journal-title":"J. Exp. Biol."},{"key":"1699_CR9","doi-asserted-by":"publisher","first-page":"Article ID 9977","DOI":"10.1155\/2021\/9977262","volume":"2021","author":"H Ling","year":"2021","unstructured":"Ling, H., Luo, H., Chen, H., Bai, L., Zhu, T., Wang, Y.: Modelling and simulation of distributed UAV swarm cooperative planning and perception. Int. J. Aerospace Eng. 2021, Article ID 9977262 (2021). https:\/\/doi.org\/10.1155\/2021\/9977262. (11 pages)","journal-title":"Int. J. Aerospace Eng."},{"key":"1699_CR10","doi-asserted-by":"publisher","first-page":"169","DOI":"10.1242\/jeb.59.1.169","volume":"59","author":"T Weis-Fogh","year":"1973","unstructured":"Weis-Fogh, T.: Quick estimates of flight in hovering animals, including novel mechanisms for lift production. J. Exp. Biol. 59, 169\u2013230 (1973)","journal-title":"J. Exp. Biol."},{"issue":"4","key":"1699_CR11","doi-asserted-by":"publisher","first-page":"1546","DOI":"10.3390\/app11041546","volume":"11","author":"Q Khan","year":"2021","unstructured":"Khan, Q., Akmeliawati, R.: Review on system identification and mathematical modeling of flapping wing micro-aerial vehicles. Appl. Sci. 11(4), 1546 (2021). https:\/\/doi.org\/10.3390\/app11041546","journal-title":"Appl. Sci."},{"issue":"1","key":"1699_CR12","doi-asserted-by":"publisher","first-page":"133","DOI":"10.1007\/s40430-015-0350-4","volume":"38","author":"Z Jahanbin","year":"2016","unstructured":"Jahanbin, Z., Ghafari, A.S., Ebrahimi, A., Meghdari, A.: Multi-body simulation of a flapping-wing robot using an efficient dynamical model. J Braz Soc Mech Sci Eng 38(1), 133\u2013149 (2016)","journal-title":"J Braz Soc Mech Sci Eng"},{"key":"1699_CR13","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s40430-018-1002-2","volume":"40","author":"Z Jahanbin","year":"2018","unstructured":"Jahanbin, Z., Karimian, S.: Modeling and parametric study of a flexible flapping wing MAV using the bond graph approach. J Braz Soc Mech Sci Eng 40, 1\u201319 (2018)","journal-title":"J Braz Soc Mech Sci Eng"},{"key":"1699_CR14","doi-asserted-by":"publisher","unstructured":"Orlowski, C. T., Girard, A. R.: \u201cDynamics, stability, and control analyses of flapping wing micro-air vehicles\u201d, Progress in Aerospace Sciences (2012). https:\/\/doi.org\/10.1016\/j.paerosci.2012.01.001","DOI":"10.1016\/j.paerosci.2012.01.001"},{"issue":"3","key":"1699_CR15","doi-asserted-by":"publisher","first-page":"308","DOI":"10.31763\/ijrcs.v1i3.363","volume":"1","author":"X Wei-hong","year":"2021","unstructured":"Wei-hong, X., Li-jia, C., Chun-lai, Z.: Review of aerial manipulator and its control. Int. J. Robot. Control Syst. 1(3), 308\u2013325 (2021). https:\/\/doi.org\/10.31763\/ijrcs.v1i3.363","journal-title":"Int. J. Robot. Control Syst."},{"key":"1699_CR16","doi-asserted-by":"publisher","first-page":"907","DOI":"10.1007\/s11071-012-0529-5","volume":"70","author":"HE Taha","year":"2012","unstructured":"Taha, H.E., Hajj, M.R., Nayfeh, A.H.: Flight dynamics and control of flapping-wing MAVs: a review. Nonlinear Dyn 70, 907\u2013939 (2012). https:\/\/doi.org\/10.1007\/s11071-012-0529-5","journal-title":"Nonlinear Dyn"},{"key":"1699_CR17","doi-asserted-by":"crossref","unstructured":"Doman, D.B., Oppenheimer, M.W., Sigthorsson, D.O.: Dynamics and Control of a Biomimetic Vehicle Using Biased Wingbeat Forcing Functions: Part II: Controller. AIAA, Washington. 1024. (2010)","DOI":"10.2514\/6.2010-1024"},{"key":"1699_CR18","unstructured":"Abbasi, S. H., Mahmood, A., Memon, S.A.: \"Bond Graph Modeling and PID Control of a Bioinspired Electromechanical Covert Feather for a Flapping Wing Uav\", International Cappadocia Scientific Research Congress, 15\u201317 December 2021, Cappadocia, Turkey, 271\u2013276"},{"issue":"3","key":"1699_CR19","doi-asserted-by":"publisher","first-page":"724","DOI":"10.2514\/1.47146","volume":"33","author":"DB Doman","year":"2010","unstructured":"Doman, D.B., Oppenheimer, M.W., Sigthorsson, D.O.: Wingbeat shape modulation for flapping-wing micro-air vehicle control during hover. J. Guid. Control Dyn. 33(3), 724\u2013739 (2010)","journal-title":"J. Guid. Control Dyn."},{"issue":"2","key":"1699_CR20","doi-asserted-by":"publisher","first-page":"35","DOI":"10.1139\/juvs-2014-0012","volume":"3","author":"G Barbaraci","year":"2015","unstructured":"Barbaraci, G.: Modeling and control of a quadrotor with variable geometry arms. J. Unmanned Vehicle Syst. 3(2), 35\u201357 (2015)","journal-title":"J. Unmanned Vehicle Syst."},{"issue":"4","key":"1699_CR21","doi-asserted-by":"publisher","first-page":"776","DOI":"10.1109\/TRO.2006.875480","volume":"22","author":"X Deng","year":"2006","unstructured":"Deng, X., Schenato, L., Wu, W.C., Sastry, S.S.: Flapping flight for biomemetic robotic insects: Part I System modeling. IEEE Trans. Robot. 22(4), 776\u2013788 (2006)","journal-title":"IEEE Trans. Robot."},{"key":"1699_CR22","doi-asserted-by":"publisher","unstructured":"Sigthorsson, D. O., Oppenheimer, M. W., Doman, D. B.: \u201cFlapping Wing Micro-Air-Vehicle 4-DOF Controller Applied to a 6-DOF Model,\u201d AIAA Guidance, Navigation and Control Conference, AIAA Paper 2010\u20137554, (2010). https:\/\/doi.org\/10.2514\/6.2010-7554","DOI":"10.2514\/6.2010-7554"},{"key":"1699_CR23","doi-asserted-by":"publisher","unstructured":"Biswal, S., et al.: Bioinspir. Biomim. in press (2019).https:\/\/doi.org\/10.1088\/1748-3190\/aafc3c","DOI":"10.1088\/1748-3190\/aafc3c"},{"key":"1699_CR24","doi-asserted-by":"crossref","unstructured":"Bhatia, M., Patil, M., Woolsey, C.: Stabilization of flapping-wing micro-air vehicles in gust environments. J. Guid. Control Dyn. 37(2), (2014)","DOI":"10.2514\/1.59875"},{"issue":"4","key":"1699_CR25","doi-asserted-by":"publisher","first-page":"800","DOI":"10.2514\/1.G000599","volume":"38","author":"J-S Lee","year":"2015","unstructured":"Lee, J.-S., Kim, J.-K., Han, J.-H.: Stroke plane control for longitudinal stabilization of hovering flapping wing air vehicles. J. Guid. Control Dyn. 38(4), 800\u2013805 (2015)","journal-title":"J. Guid. Control Dyn."},{"key":"1699_CR26","doi-asserted-by":"publisher","unstructured":"Kalliny, A. N., El-Badawy, A. A., Elkhamisy, S. M.: Command-filtered integral backstepping control of longitudinal flapping-wing flight. J. Guid. Control Dyn. (2018) https:\/\/doi.org\/10.2514\/1.G003267","DOI":"10.2514\/1.G003267"},{"key":"1699_CR27","doi-asserted-by":"publisher","first-page":"257","DOI":"10.2514\/1.J050057","volume":"49","author":"Z Khan","year":"2011","unstructured":"Khan, Z., Agrawal, S.: Optimal hovering kinematics of flapping wings for micro air vehicles. J. Aircr. 49, 257\u2013268 (2011). https:\/\/doi.org\/10.2514\/1.J050057","journal-title":"J. Aircr."},{"key":"1699_CR28","doi-asserted-by":"publisher","unstructured":"Guo, J., Qi, J., Wu, C.: Robust fault diagnosis and fault-tolerant control for nonlinear quadrotor unmanned aerial vehicle system with unknown actuator faults. Int. J. Adv. Robot. Syst. (2021). https:\/\/doi.org\/10.1177\/17298814211002734","DOI":"10.1177\/17298814211002734"},{"key":"1699_CR29","doi-asserted-by":"publisher","unstructured":"Bakhtiari, A., Haghighi, S. E., Maghsoudpour, A.: Modeling and control of a flapping wing robot. Proc. IMechE Part K: J. Multi-body Dyn., 1\u20138. https:\/\/doi.org\/10.1177\/1464419318793503","DOI":"10.1177\/1464419318793503"},{"issue":"5","key":"1699_CR30","doi-asserted-by":"publisher","first-page":"1223","DOI":"10.2514\/1.G003160","volume":"41","author":"JE Bluman","year":"2018","unstructured":"Bluman, J.E., Kang, C.K., Shtessel, Y.B.: Control of a flapping-wing micro air vehicle: sliding-mode approach. J. Guid. Control. Dyn. 41(5), 1223\u20131226 (2018)","journal-title":"J. Guid. Control. Dyn."},{"key":"1699_CR31","doi-asserted-by":"publisher","first-page":"524","DOI":"10.1007\/s40430-019-2044-9","volume":"41","author":"SH Abbasi","year":"2019","unstructured":"Abbasi, S.H., Mahmood, A.: Bio-Inspired gust mitigation system for a flapping wing UAV: modeling and simulation. J. Braz Soc. Mech. Sci. Eng. 41, 524 (2019). https:\/\/doi.org\/10.1007\/s40430-019-2044-9","journal-title":"J. Braz Soc. Mech. Sci. Eng."},{"key":"1699_CR32","doi-asserted-by":"publisher","unstructured":"Abbasi, S. H., Mahmood, A.: \"Modeling, Simulation and Control of a Bio-Inspired Electromechanical Feather for Gust Mitigation in Flapping Wing UAV,\"\u00a02019 2nd International Conference on Communication, Computing and Digital systems (C-CODE), pp. 195\u2013200 (2019) https:\/\/doi.org\/10.1109\/C-CODE.2019.8681016","DOI":"10.1109\/C-CODE.2019.8681016"},{"key":"1699_CR33","doi-asserted-by":"publisher","first-page":"Article ID 8923","DOI":"10.1155\/2021\/8923599","volume":"2021","author":"SH Abbasi","year":"2021","unstructured":"Abbasi, S.H., Mahmood, A.: Abdul Khaliq: \u201cbioinspired feathered flapping wing UAV design for operation in gusty environment.\u201d J. Robot. 2021, Article ID 8923599 (2021). https:\/\/doi.org\/10.1155\/2021\/8923599. (14 pages)","journal-title":"J. Robot."},{"key":"1699_CR34","unstructured":"Send, W., et al.: \u201cArtificial hinged-wing bird with active torsion and partially linear kinematics\u201d, 28th International Congress of the Aeronautical Sciences (2012)"},{"key":"1699_CR35","volume-title":"System dynamics modeling and simulation of mechatronic systems","author":"DC Karnopp","year":"2000","unstructured":"Karnopp, D.C., Margolis, D.L., Rosenberg, R.C.: System dynamics modeling and simulation of mechatronic systems. Wiley, Canada (2000)"},{"issue":"1","key":"1699_CR36","first-page":"1","volume":"2","author":"G Barbaraci","year":"2012","unstructured":"Barbaraci, G., Virz\u00ecMariotti, G.: Sub-optimal control law for active magnetic bearings suspension. J. Control Eng. Technol. (JCET) 2(1), 1\u201310 (2012)","journal-title":"J. Control Eng. Technol. (JCET)"},{"key":"1699_CR37","unstructured":"Abbasi, S. H., Imran, M., Mahmood, A.: \"Model Order Reduction of a Bio-Inspired Gust Mitigation System for a Flapping Wing UAV\", Ankara V. International Scientific Research Congress, October 10\u201312, Ankara, Turkey, 281\u2013288 (2021)"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-022-01699-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-022-01699-w\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-022-01699-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,9,12]],"date-time":"2022-09-12T14:29:27Z","timestamp":1662992967000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-022-01699-w"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,7,29]]},"references-count":37,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2022,8]]}},"alternative-id":["1699"],"URL":"https:\/\/doi.org\/10.1007\/s10846-022-01699-w","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,7,29]]},"assertion":[{"value":"17 September 2021","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"15 July 2022","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"29 July 2022","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"Not applicable.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical Approval"}},{"value":"Not applicable.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to Participate"}},{"value":"Not applicable.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to Publish"}},{"value":"The authors declare no conflict of interest.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing Interests"}}],"article-number":"79"}}