{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T04:18:29Z","timestamp":1750220309415,"version":"3.41.0"},"publisher-location":"New York, NY, USA","reference-count":16,"publisher":"ACM","license":[{"start":{"date-parts":[[2021,6,30]],"date-time":"2021-06-30T00:00:00Z","timestamp":1625011200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"name":"Indo-Korean Joint Network Center on Robotics","award":["RP03546"],"award-info":[{"award-number":["RP03546"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2021,6,30]]},"DOI":"10.1145\/3478586.3478604","type":"proceedings-article","created":{"date-parts":[[2021,12,29]],"date-time":"2021-12-29T05:27:31Z","timestamp":1640755651000},"page":"1-7","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["Constrained Control of Quadrotor Using Laguerre Functions Based Model Predictive Control for Reference Tracking"],"prefix":"10.1145","author":[{"given":"Prayag","family":"Sharma","sequence":"first","affiliation":[{"name":"UIET, Panjab University,Chandigarh, India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Utkarsh","family":"Bajpai","sequence":"additional","affiliation":[{"name":"Indian Institute of Technology, Delhi, India and I-Hub Foundation for Cobotics, India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Subir","family":"Kumar Saha","sequence":"additional","affiliation":[{"name":"Indian Institute of Technology, Delhi, India, India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Adnan","family":"Jawed","sequence":"additional","affiliation":[{"name":"Indian Institute of Technology, Delhi, India, India"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2021,12,28]]},"reference":[{"key":"e_1_3_2_1_1_1","volume-title":"Proceedings of 2004 IEEE\/RSJ International Conference on Intelligent Robots and Systems. 3. 2451 - 2456","volume":"3","author":"Siegwart A.","year":"2004","unstructured":"Bouabdallah, Samir & Noth, A. & Siegwart , Roland. ( 2004 ). PID vs LQ Control Techniques Applied to an Indoor Micro Quadrotor . Proceedings of 2004 IEEE\/RSJ International Conference on Intelligent Robots and Systems. 3. 2451 - 2456 vol. 3 . 10.1109\/IROS.2004.1389776. Bouabdallah, Samir & Noth, A. & Siegwart, Roland. (2004). PID vs LQ Control Techniques Applied to an Indoor Micro Quadrotor. Proceedings of 2004 IEEE\/RSJ International Conference on Intelligent Robots and Systems. 3. 2451 - 2456 vol.3. 10.1109\/IROS.2004.1389776."},{"volume-title":"International Review of Automatic Control","author":"Alexhs K.","key":"e_1_3_2_1_2_1","unstructured":"K. Alexhs , G. Nikolakopoulos , and A. Tzes , \u201c Autonomous quadrotor position and attitude PID\/PIDD control in GPS-denied environments ,\u201d International Review of Automatic Control , vol. 4 , no. 3, 2011. K. Alexhs, G. Nikolakopoulos, and A. Tzes, \u201cAutonomous quadrotor position and attitude PID\/PIDD control in GPS-denied environments,\u201d International Review of Automatic Control, vol. 4, no. 3, 2011."},{"volume-title":"IEEE International Conference on Intelligent Robots and Systems. 3255 - 3260","year":"2006","key":"e_1_3_2_1_3_1","unstructured":"Madani, Tarek & Benallegue, Abdelaziz. ( 2006 ). Backstepping Control for a Quadrotor Helicopter . IEEE International Conference on Intelligent Robots and Systems. 3255 - 3260 . 10.1109\/IROS.2006.282433. Madani, Tarek & Benallegue, Abdelaziz. (2006). Backstepping Control for a Quadrotor Helicopter. IEEE International Conference on Intelligent Robots and Systems. 3255 - 3260. 10.1109\/IROS.2006.282433."},{"key":"e_1_3_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-009-0311-8"},{"key":"e_1_3_2_1_5_1","volume-title":"MPC with Nonlinear H\u221e Control for Path Tracking of a Quad-Rotor Helicopter. Asian Journal of Control. 17. 10.1002\/asjc.823","author":"Ortega G.V.","year":"2014","unstructured":"Raffo, G.V. & Ortega , Manuel & Rubio, Francisco. ( 2014 ). MPC with Nonlinear H\u221e Control for Path Tracking of a Quad-Rotor Helicopter. Asian Journal of Control. 17. 10.1002\/asjc.823 . Raffo, G.V. & Ortega, Manuel & Rubio, Francisco. (2014). MPC with Nonlinear H\u221e Control for Path Tracking of a Quad-Rotor Helicopter. Asian Journal of Control. 17. 10.1002\/asjc.823."},{"key":"e_1_3_2_1_6_1","first-page":"11773","volume-title":"IFAC Proceedings Volumes, 47(3)","author":"Mahony M.","unstructured":"Bangura, M. and Mahony , R ., 2014. Real-time model predictive control for quadrotors . IFAC Proceedings Volumes, 47(3) , pp. 11773 - 11780 . Bangura, M. and Mahony, R., 2014. Real-time model predictive control for quadrotors. IFAC Proceedings Volumes, 47(3), pp.11773-11780."},{"key":"e_1_3_2_1_7_1","first-page":"2243","volume-title":"Gdansk","author":"Alexis K.","year":"2011","unstructured":"K. Alexis , G. Nikolakopoulos and A. Tzes , \" Model predictive control scheme for the autonomous flight of an unmanned quadrotor,\" 2011 IEEE International Symposium on Industrial Electronics , Gdansk , Poland , 2011 , pp. 2243 - 2248 , doi: 10.1109\/ISIE.2011.5984510. 10.1109\/ISIE.2011.5984510 K. Alexis, G. Nikolakopoulos and A. Tzes, \"Model predictive control scheme for the autonomous flight of an unmanned quadrotor,\" 2011 IEEE International Symposium on Industrial Electronics, Gdansk, Poland, 2011, pp. 2243-2248, doi: 10.1109\/ISIE.2011.5984510."},{"key":"e_1_3_2_1_8_1","first-page":"134","volume-title":"An Intelligent Control of Quadcopter for Efficient Path Following,\" 2019 Sixth Indian Control Conference (ICC)","author":"Mishra A.","year":"2019","unstructured":"A. Mishra and S. Ghosh , \" An Intelligent Control of Quadcopter for Efficient Path Following,\" 2019 Sixth Indian Control Conference (ICC) , 2019 , pp. 134 - 139 , doi: 10.1109\/ICC47138.2019.9123162. 10.1109\/ICC47138.2019.9123162 A. Mishra and S. Ghosh, \"An Intelligent Control of Quadcopter for Efficient Path Following,\" 2019 Sixth Indian Control Conference (ICC), 2019, pp. 134-139, doi: 10.1109\/ICC47138.2019.9123162."},{"key":"e_1_3_2_1_9_1","first-page":"988","volume-title":"Adaptive neural network control for quadrotor unmanned aerial vehicles,\" 2017 11th Asian Control Conference (ASCC)","author":"Teng Y.","year":"2017","unstructured":"Y. Teng , B. Hu , Z. Liu , J. Huang and Z. Guan , \" Adaptive neural network control for quadrotor unmanned aerial vehicles,\" 2017 11th Asian Control Conference (ASCC) , 2017 , pp. 988 - 992 , doi: 10.1109\/ASCC.2017.8287305. 10.1109\/ASCC.2017.8287305 Y. Teng, B. Hu, Z. Liu, J. Huang and Z. Guan, \"Adaptive neural network control for quadrotor unmanned aerial vehicles,\" 2017 11th Asian Control Conference (ASCC), 2017, pp. 988-992, doi: 10.1109\/ASCC.2017.8287305."},{"key":"e_1_3_2_1_10_1","first-page":"340","volume-title":"Quaternion based adaptive control for package delivery using variable-pitch quadrotors,\" 2018 Indian Control Conference (ICC)","author":"Shastry A. K.","year":"2018","unstructured":"A. K. Shastry , M. T. Bhargavapuri , M. Kothari and S. R. Sahoo , \" Quaternion based adaptive control for package delivery using variable-pitch quadrotors,\" 2018 Indian Control Conference (ICC) , 2018 , pp. 340 - 345 , doi: 10.1109\/INDIANCC.2018.8308002. 10.1109\/INDIANCC.2018.8308002 A. K. Shastry, M. T. Bhargavapuri, M. Kothari and S. R. Sahoo, \"Quaternion based adaptive control for package delivery using variable-pitch quadrotors,\" 2018 Indian Control Conference (ICC), 2018, pp. 340-345, doi: 10.1109\/INDIANCC.2018.8308002."},{"key":"e_1_3_2_1_11_1","first-page":"2430","volume-title":"USA","volume":"3","year":"2001","unstructured":"Liuping Wang, \"Discrete time model predictive control design using Laguerre functions,\" Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148), Arlington, VA , USA , 2001 , pp. 2430 - 2435 vol. 3 , doi: 10.1109\/ACC.2001.946117. 10.1109\/ACC.2001.946117 Liuping Wang, \"Discrete time model predictive control design using Laguerre functions,\" Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148), Arlington, VA, USA, 2001, pp. 2430-2435 vol.3, doi: 10.1109\/ACC.2001.946117."},{"volume-title":"Model Predictive Control System Design and Implementation using MATLAB","year":"2009","key":"e_1_3_2_1_12_1","unstructured":"Wang, Liuping. ( 2009 ). Model Predictive Control System Design and Implementation using MATLAB . Wang, Liuping. (2009). Model Predictive Control System Design and Implementation using MATLAB."},{"key":"e_1_3_2_1_13_1","doi-asserted-by":"publisher","DOI":"10.1002\/nav.3800040113"},{"key":"e_1_3_2_1_14_1","first-page":"22","article-title":"Modelling and control of quadcopter. Independent research project in applied mathematics","volume":"22","author":"T.","year":"2011","unstructured":"Luukkonen, T. , 2011 . Modelling and control of quadcopter. Independent research project in applied mathematics , Espoo , 22 , p. 22 . Luukkonen, T., 2011. Modelling and control of quadcopter. Independent research project in applied mathematics, Espoo, 22, p.22.","journal-title":"Espoo"},{"volume-title":"Design and Implementation of Model Predictive Control on Pixhawk Flight Controller","year":"2018","key":"e_1_3_2_1_15_1","unstructured":"Amadi, Chinedu & Smit, Willie. ( 2018 ). Design and Implementation of Model Predictive Control on Pixhawk Flight Controller . Amadi, Chinedu & Smit, Willie. (2018). Design and Implementation of Model Predictive Control on Pixhawk Flight Controller."},{"key":"e_1_3_2_1_16_1","first-page":"4737","volume-title":"Cancun","author":"Rossiter J. A.","year":"2008","unstructured":"J. A. Rossiter and L. Wang , \" Exploiting Laguerre functions to improve the feasibility\/performance compromise in MPC,\" 2008 47th IEEE Conference on Decision and Control , Cancun , Mexico , 2008 , pp. 4737 - 4742 , doi: 10.1109\/CDC.2008.4738969. 10.1109\/CDC.2008.4738969 J. A. Rossiter and L. Wang, \"Exploiting Laguerre functions to improve the feasibility\/performance compromise in MPC,\" 2008 47th IEEE Conference on Decision and Control, Cancun, Mexico, 2008, pp. 4737-4742, doi: 10.1109\/CDC.2008.4738969."}],"event":{"name":"AIR2021: Advances in Robotics - 5th International Conference of The Robotics Society","acronym":"AIR2021","location":"Kanpur India"},"container-title":["Advances in Robotics - 5th International Conference of The Robotics Society"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3478586.3478604","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3478586.3478604","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T20:11:41Z","timestamp":1750191101000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3478586.3478604"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,6,30]]},"references-count":16,"alternative-id":["10.1145\/3478586.3478604","10.1145\/3478586"],"URL":"https:\/\/doi.org\/10.1145\/3478586.3478604","relation":{},"subject":[],"published":{"date-parts":[[2021,6,30]]},"assertion":[{"value":"2021-12-28","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}