{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,5]],"date-time":"2026-01-05T22:14:15Z","timestamp":1767651255540,"version":"3.38.0"},"reference-count":40,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2019,11,18]],"date-time":"2019-11-18T00:00:00Z","timestamp":1574035200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Transactions of the Institute of Measurement and Control"],"published-print":{"date-parts":[[2020,4]]},"abstract":"<jats:p> In this paper, a gain scheduled [Formula: see text] state-feedback controller has been designed to control the attitude of a linear parameter varying (LPV) model of a quadrotor unmanned aerial vehicle (UAV). The scheduling parameters vector, which consists of some states and the control inputs, must vary in a specified polyhedron so that the affine LPV model would be analyzable; therefore, some pre-assumed constraints on states and input saturation have been taken into account in design process. The stabilization and disturbance attenuation conditions are obtained via elementary manipulations on the notion of [Formula: see text] control design. The resulting parameter dependent linear matrix inequalities are solved through a Robust LMI Parser (Rolmip) \u2013 which works jointly with YALMIP (A toolbox for modeling and optimization in MATLAB)\u2013 by transforming polynomial parameter dependent matrices into multi-simplex domain, to best deal with nonconvex problems. In the end, simulation results have been presented and compared with existing literature to examine the capability of such method in the presence and absence of wind disturbances. <\/jats:p>","DOI":"10.1177\/0142331219883452","type":"journal-article","created":{"date-parts":[[2019,11,18]],"date-time":"2019-11-18T10:31:04Z","timestamp":1574073064000},"page":"1083-1096","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":15,"title":["Robust linear parameter varying attitude control of a quadrotor unmanned aerial vehicle with state constraints and input saturation subject to wind disturbance"],"prefix":"10.1177","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9643-7642","authenticated-orcid":false,"given":"Mohammad Reza","family":"Soltanpour","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, Shahid Sattari Aeronautical University of Science and Technology, Iran"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4696-1803","authenticated-orcid":false,"given":"Farshad","family":"Hasanvand","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering, Iran University of Science & Technology, Iran"}]},{"given":"Reza","family":"Hooshmand","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Shahid Sattari Aeronautical University of Science and Technology, Iran"}]}],"member":"179","published-online":{"date-parts":[[2019,11,18]]},"reference":[{"key":"bibr1-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1145\/3323925"},{"key":"bibr2-0142331219883452","first-page":"6060","volume-title":"American Control Conference (ACC)","author":"Agulhari CM","year":"2013"},{"key":"bibr3-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2011.0348"},{"key":"bibr4-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1002\/asjc.587"},{"key":"bibr5-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1109\/9.384219"},{"key":"bibr6-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(95)00038-X"},{"key":"bibr7-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1177\/0142331218774606"},{"key":"bibr8-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2004.1389776"},{"key":"bibr9-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570447"},{"key":"bibr10-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399042"},{"key":"bibr11-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511804441"},{"key":"bibr12-0142331219883452","first-page":"3","author":"Briat C","year":"2014","journal-title":"Analysis, Observation, Filtering & Control"},{"key":"bibr13-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2013.12.017"},{"key":"bibr14-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1016\/S0167-6911(02)00128-7"},{"key":"bibr15-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1007\/b96977"},{"key":"bibr16-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2014.2327584"},{"key":"bibr17-0142331219883452","doi-asserted-by":"publisher","DOI":"10.2514\/6.2007-6461"},{"key":"bibr18-0142331219883452","doi-asserted-by":"publisher","DOI":"10.2514\/6.2006-6576"},{"key":"bibr19-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1080\/00207179.2018.1547422"},{"key":"bibr20-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4612-0205-9"},{"key":"bibr21-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2007.06.003"},{"key":"bibr22-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1177\/0142331217742964"},{"key":"bibr23-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1080\/00207179.2012.709656"},{"key":"bibr24-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1080\/00207721.2014.911389"},{"key":"bibr25-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2014.10.006"},{"key":"bibr26-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1016\/0167-6911(94)00109-9"},{"key":"bibr27-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1109\/CACSD.2004.1393890"},{"key":"bibr28-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2014.6842389"},{"key":"bibr29-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4614-1833-7"},{"key":"bibr30-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1163\/156855306775275495"},{"key":"bibr31-0142331219883452","unstructured":"Mosek A (2015) The MOSEK optimization toolbox for MATLAB manual."},{"key":"bibr32-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1177\/0142331218767489"},{"key":"bibr33-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2009.10.018"},{"key":"bibr34-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2015.08.079"},{"key":"bibr35-0142331219883452","unstructured":"Scherer C, Weiland S (2000) Linear matrix inequalities in control. Lecture notes, Dutch Institute for Systems and Control, Delft, The Netherlands."},{"key":"bibr36-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1109\/37.165527"},{"journal-title":"IEEE Access","year":"2018","author":"Shi D","key":"bibr37-0142331219883452"},{"key":"bibr38-0142331219883452","doi-asserted-by":"publisher","DOI":"10.2514\/6.2009-1983"},{"key":"bibr39-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1099-1239(199611)6:9\/10<983::AID-RNC263>3.0.CO;2-C"},{"key":"bibr40-0142331219883452","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2010.0273"}],"container-title":["Transactions of the Institute of Measurement and Control"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0142331219883452","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0142331219883452","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0142331219883452","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,1]],"date-time":"2025-03-01T10:54:48Z","timestamp":1740826488000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0142331219883452"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,11,18]]},"references-count":40,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2020,4]]}},"alternative-id":["10.1177\/0142331219883452"],"URL":"https:\/\/doi.org\/10.1177\/0142331219883452","relation":{},"ISSN":["0142-3312","1477-0369"],"issn-type":[{"type":"print","value":"0142-3312"},{"type":"electronic","value":"1477-0369"}],"subject":[],"published":{"date-parts":[[2019,11,18]]}}}