{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,11,9]],"date-time":"2023-11-09T14:04:21Z","timestamp":1699538661980},"reference-count":0,"publisher":"Walter de Gruyter GmbH","issue":"6","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2014,6,28]]},"abstract":"<jats:title>Abstract<\/jats:title>\n               <jats:p>This paper presents a cascaded nonlinear state feedback control law for a quadrotor, which achieves asymptotic tracking of a predefined position and heading reference trajectory. The inner-loop attitude controller and the outer-loop position controller reflect the cascade structure of the quadrotor dynamics and are designed independently using an energy shaping approach.  The closed loop tracking error dynamics form a nonautonomous nonlinear cascade for whose zero equilibrium we prove almost global asymptotic stability. Experimental results show the performance of the control concept.<\/jats:p>","DOI":"10.1515\/auto-2013-1063","type":"journal-article","created":{"date-parts":[[2014,5,28]],"date-time":"2014-05-28T20:17:40Z","timestamp":1401308260000},"page":"408-422","source":"Crossref","is-referenced-by-count":8,"title":["Cascaded energy based trajectory tracking control of a quadrotor"],"prefix":"10.1515","volume":"62","author":[{"given":"Oliver","family":"Fritsch","sequence":"first","affiliation":[{"name":"Technische Universit\u00e4t M\u00fcnchen"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"David","family":"Tromba","sequence":"additional","affiliation":[{"name":"Technische Universit\u00e4t M\u00fcnchen"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Boris","family":"Lohmann","sequence":"additional","affiliation":[{"name":"Technische Universit\u00e4t M\u00fcnchen"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"374","published-online":{"date-parts":[[2014,5,28]]},"container-title":["at - Automatisierungstechnik"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.1515\/auto-2013-1063\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.1515\/auto-2013-1063\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,6,23]],"date-time":"2021-06-23T06:34:05Z","timestamp":1624430045000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.1515\/auto-2013-1063\/html"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,5,28]]},"references-count":0,"journal-issue":{"issue":"6","published-online":{"date-parts":[[2014,5,28]]},"published-print":{"date-parts":[[2014,6,28]]}},"alternative-id":["10.1515\/auto-2013-1063"],"URL":"https:\/\/doi.org\/10.1515\/auto-2013-1063","relation":{},"ISSN":["0178-2312","2196-677X"],"issn-type":[{"value":"0178-2312","type":"print"},{"value":"2196-677X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,5,28]]}}}