<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-02537320</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-14T07:23:47+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Hierarchical nonlinear control for multi-rotor asymptotic stabilization based on zero-moment direction</title>
            <author role="aut">
              <persName>
                <forename type="first">Giulia</forename>
                <surname>Michieletto</surname>
              </persName>
              <idno type="idhal" notation="numeric">1006856</idno>
              <idno type="halauthorid" notation="string">1061700-1006856</idno>
              <affiliation ref="#struct-392741"/>
              <affiliation ref="#struct-301093"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Angelo</forename>
                <surname>Cenedese</surname>
              </persName>
              <idno type="halauthorid">688614-0</idno>
              <affiliation ref="#struct-301093"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Luca</forename>
                <surname>Zaccarian</surname>
              </persName>
              <email type="md5">22ca22c8aac861bb90679b6490cb5458</email>
              <email type="domain">laas.fr</email>
              <idno type="idhal" notation="string">luca-zaccarian</idno>
              <idno type="idhal" notation="numeric">14020</idno>
              <idno type="halauthorid" notation="string">32255-14020</idno>
              <idno type="IDREF">https://www.idref.fr/111337801</idno>
              <idno type="ORCID">https://orcid.org/0000-0003-1247-0029</idno>
              <affiliation ref="#struct-388529"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Antonio</forename>
                <surname>Franchi</surname>
              </persName>
              <email type="md5">6667c5814f01263a7ac530f876dea76a</email>
              <email type="domain">utwente.nl</email>
              <idno type="idhal" notation="string">antonio-franchi</idno>
              <idno type="idhal" notation="numeric">2760</idno>
              <idno type="halauthorid" notation="string">18754-2760</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-5670-1282</idno>
              <idno type="IDREF">https://www.idref.fr/22542004X</idno>
              <affiliation ref="#struct-392741"/>
              <affiliation ref="#struct-303060"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Antonio</forename>
                <surname>Franchi</surname>
              </persName>
              <email type="md5">81c35069d222ee761e3dd729c1ad0ed3</email>
              <email type="domain">r-franchi.eu</email>
            </editor>
            <funder ref="#projanr-47730"/>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2020-04-08 17:54:47</date>
              <date type="whenModified">2025-10-22 18:04:08</date>
              <date type="whenReleased">2020-04-15 14:22:09</date>
              <date type="whenProduced">2020-07</date>
              <date type="whenEndEmbargoed">2020-04-08</date>
              <ref type="file" target="https://laas.hal.science/hal-02537320v1/document">
                <date notBefore="2020-04-08"/>
              </ref>
              <ref type="file" subtype="author" n="1" target="https://laas.hal.science/hal-02537320v1/file/2020e-MicCenZacFra.pdf" id="file-2537320-2406166">
                <date notBefore="2020-04-08"/>
              </ref>
              <ref type="externalLink" target="http://arxiv.org/pdf/1902.02496"/>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="201466">
                <persName>
                  <forename>Antonio</forename>
                  <surname>Franchi</surname>
                </persName>
                <email type="md5">81c35069d222ee761e3dd729c1ad0ed3</email>
                <email type="domain">r-franchi.eu</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-02537320</idno>
            <idno type="halUri">https://laas.hal.science/hal-02537320</idno>
            <idno type="halBibtex">michieletto:hal-02537320</idno>
            <idno type="halRefHtml">&lt;i&gt;Automatica&lt;/i&gt;, 2020, 117, pp.108991. &lt;a target="_blank" href="https://dx.doi.org/10.1016/j.automatica.2020.108991"&gt;&amp;#x27E8;10.1016/j.automatica.2020.108991&amp;#x27E9;&lt;/a&gt;</idno>
            <idno type="halRef">Automatica, 2020, 117, pp.108991. &amp;#x27E8;10.1016/j.automatica.2020.108991&amp;#x27E9;</idno>
            <availability status="restricted">
              <licence target="https://about.hal.science/hal-authorisation-v1/">HAL Authorization<ref corresp="#file-2537320-2406166"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="UNIV-TLSE2">Université Toulouse 2</idno>
            <idno type="stamp" n="UNIV-TLSE3">Université de Toulouse</idno>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="INSA-TOULOUSE">Institut National des Sciences Appliquées de Toulouse</idno>
            <idno type="stamp" n="LAAS">Laboratoire d'analyse et d'architecture des systèmes</idno>
            <idno type="stamp" n="LAAS-MAC" corresp="LAAS-DECISION-ET-OPTIMISATION">Équipe Méthodes et Algorithmes en Commande</idno>
            <idno type="stamp" n="UT1-CAPITOLE">Université Toulouse 1 Capitole</idno>
            <idno type="stamp" n="LAAS-RIS" corresp="LAAS-ROBOTIQUE">Équipe Robotique et InteractionS</idno>
            <idno type="stamp" n="LAAS-ROBOTIQUE" corresp="LAAS">LAAS-Robotique</idno>
            <idno type="stamp" n="LAAS-DECISION-ET-OPTIMISATION" corresp="LAAS">LAAS-Décision et Optimisation</idno>
            <idno type="stamp" n="INSA-GROUPE">Groupe INSA</idno>
            <idno type="stamp" n="ANR">ANR</idno>
            <idno type="stamp" n="TOULOUSE-INP">Toulouse - INP</idno>
            <idno type="stamp" n="UNIV-UT3">Université Toulouse 3</idno>
            <idno type="stamp" n="UT3-INP">Université de Toulouse / Toulouse INP</idno>
            <idno type="stamp" n="UT3-TOULOUSEINP">Université de Toulouse / Toulouse INP</idno>
            <idno type="stamp" n="TEST7-HALCNRS">test 7 du portail hal cnrs</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="invited" n="0">No</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">Hierarchical nonlinear control for multi-rotor asymptotic stabilization based on zero-moment direction</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Giulia</forename>
                    <surname>Michieletto</surname>
                  </persName>
                  <idno type="idhal" notation="numeric">1006856</idno>
                  <idno type="halauthorid" notation="string">1061700-1006856</idno>
                  <affiliation ref="#struct-392741"/>
                  <affiliation ref="#struct-301093"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Angelo</forename>
                    <surname>Cenedese</surname>
                  </persName>
                  <idno type="halauthorid">688614-0</idno>
                  <affiliation ref="#struct-301093"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Luca</forename>
                    <surname>Zaccarian</surname>
                  </persName>
                  <email type="md5">22ca22c8aac861bb90679b6490cb5458</email>
                  <email type="domain">laas.fr</email>
                  <idno type="idhal" notation="string">luca-zaccarian</idno>
                  <idno type="idhal" notation="numeric">14020</idno>
                  <idno type="halauthorid" notation="string">32255-14020</idno>
                  <idno type="IDREF">https://www.idref.fr/111337801</idno>
                  <idno type="ORCID">https://orcid.org/0000-0003-1247-0029</idno>
                  <affiliation ref="#struct-388529"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Antonio</forename>
                    <surname>Franchi</surname>
                  </persName>
                  <email type="md5">6667c5814f01263a7ac530f876dea76a</email>
                  <email type="domain">utwente.nl</email>
                  <idno type="idhal" notation="string">antonio-franchi</idno>
                  <idno type="idhal" notation="numeric">2760</idno>
                  <idno type="halauthorid" notation="string">18754-2760</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-5670-1282</idno>
                  <idno type="IDREF">https://www.idref.fr/22542004X</idno>
                  <affiliation ref="#struct-392741"/>
                  <affiliation ref="#struct-303060"/>
                </author>
              </analytic>
              <monogr>
                <idno type="localRef">Rapport LAAS n° 20059</idno>
                <idno type="halJournalId" status="VALID">10940</idno>
                <idno type="issn">0005-1098</idno>
                <title level="j">Automatica</title>
                <imprint>
                  <publisher>Elsevier</publisher>
                  <biblScope unit="volume">117</biblScope>
                  <biblScope unit="pp">108991</biblScope>
                  <date type="datePub">2020-07</date>
                  <date type="dateEpub">2020-04</date>
                </imprint>
              </monogr>
              <idno type="doi">10.1016/j.automatica.2020.108991</idno>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <keywords scheme="author">
                <term xml:lang="en">hovering</term>
                <term xml:lang="en">Lyapunov methods</term>
                <term xml:lang="en">asymptotic stabilization</term>
                <term xml:lang="en">nonlinear feedback control</term>
                <term xml:lang="en">UAVs</term>
              </keywords>
              <classCode scheme="halDomain" n="info.info-rb">Computer Science [cs]/Robotics [cs.RO]</classCode>
              <classCode scheme="halDomain" n="info.info-sy">Computer Science [cs]/Systems and Control [cs.SY]</classCode>
              <classCode scheme="halDomain" n="info.info-au">Computer Science [cs]/Automatic Control Engineering</classCode>
              <classCode scheme="halTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halOldTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halTreeTypology" n="ART">Journal articles</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>We consider the hovering control problem for a class of multi-rotor aerial platforms with generically oriented propellers, characterized by intrinsically coupled translational and rotational dynamics. In doing this, we first discuss some assumptions guaranteeing the rejection of generic disturbance torques while compensating for the gravity force. These assumptions are translated into a geometric condition usually satisfied by both standard models and more general configurations. Then, we propose a control strategy based on the identification of a zero-moment direction for the exerted force and a dynamic state feedback linearization based on this preferential direction, which locally asymptotically stabilizes the platform to a static hovering condition. Stability properties of the control law are rigorously proved through Lyapunov-based methods and reduction theorems for the stability of nested sets. Asymptotic zeroing of the error dynamics and convergence to the static hovering condition are then confirmed by simulation results on a star-shaped hexarotor model with tilted propellers.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="researchteam" xml:id="struct-392741" status="OLD">
          <orgName>Équipe Robotique et InteractionS</orgName>
          <orgName type="acronym">LAAS-RIS</orgName>
          <date type="end">2025-01-01</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.laas.fr/public/fr/ris</ref>
          </desc>
          <listRelation>
            <relation active="#struct-459" type="direct"/>
            <relation active="#struct-81148" type="indirect"/>
            <relation name="443875" active="#struct-443875" type="indirect"/>
            <relation active="#struct-116255" type="indirect"/>
            <relation active="#struct-301232" type="indirect"/>
            <relation active="#struct-443875" type="indirect"/>
            <relation active="#struct-116256" type="indirect"/>
            <relation active="#struct-217752" type="indirect"/>
            <relation name="UPR8001" active="#struct-441569" type="indirect"/>
            <relation active="#struct-448187" type="indirect"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-301093" status="VALID">
          <idno type="ROR">https://ror.org/00240q980</idno>
          <orgName>Università degli Studi di Padova = University of Padua</orgName>
          <orgName type="acronym">Unipd</orgName>
          <desc>
            <address>
              <addrLine>Via 8 Febbraio 2, 35122 Padova</addrLine>
              <country key="IT"/>
            </address>
            <ref type="url">https://www.unipd.it/</ref>
          </desc>
        </org>
        <org type="researchteam" xml:id="struct-388529" status="OLD">
          <orgName>Équipe Méthodes et Algorithmes en Commande</orgName>
          <orgName type="acronym">LAAS-MAC</orgName>
          <date type="end">2025-01-01</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.laas.fr/public/fr/mac</ref>
          </desc>
          <listRelation>
            <relation active="#struct-459" type="direct"/>
            <relation active="#struct-81148" type="indirect"/>
            <relation name="443875" active="#struct-443875" type="indirect"/>
            <relation active="#struct-116255" type="indirect"/>
            <relation active="#struct-301232" type="indirect"/>
            <relation active="#struct-443875" type="indirect"/>
            <relation active="#struct-116256" type="indirect"/>
            <relation active="#struct-217752" type="indirect"/>
            <relation name="UPR8001" active="#struct-441569" type="indirect"/>
            <relation active="#struct-448187" type="indirect"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-303060" status="VALID">
          <idno type="ROR">https://ror.org/006hf6230</idno>
          <orgName>University of Twente</orgName>
          <desc>
            <address>
              <addrLine>Drienerlolaan 5, 7522 NB Enschede</addrLine>
              <country key="NL"/>
            </address>
            <ref type="url">https://www.utwente.nl/</ref>
          </desc>
        </org>
        <org type="laboratory" xml:id="struct-459" status="OLD">
          <idno type="IdRef">199278792</idno>
          <idno type="ISNI">0000 0001 2188 216X </idno>
          <idno type="RNSR">199517454Y</idno>
          <idno type="ROR">https://ror.org/03vcm6439</idno>
          <orgName>Laboratoire d'analyse et d'architecture des systèmes</orgName>
          <orgName type="acronym">LAAS</orgName>
          <date type="start">1968-01-01</date>
          <date type="end">2025-01-01</date>
          <desc>
            <address>
              <addrLine>7 Av du colonel Roche 31077 TOULOUSE CEDEX 4</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.laas.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-81148" type="direct"/>
            <relation name="443875" active="#struct-443875" type="indirect"/>
            <relation active="#struct-116255" type="direct"/>
            <relation active="#struct-301232" type="indirect"/>
            <relation active="#struct-443875" type="indirect"/>
            <relation active="#struct-116256" type="direct"/>
            <relation active="#struct-217752" type="direct"/>
            <relation name="UPR8001" active="#struct-441569" type="direct"/>
            <relation active="#struct-448187" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-81148" status="VALID">
          <idno type="IdRef">026404354</idno>
          <idno type="ISNI">0000000121902837</idno>
          <idno type="ROR">https://ror.org/0443n9e75</idno>
          <orgName>Université Toulouse Capitole</orgName>
          <orgName type="acronym">UT Capitole</orgName>
          <date type="start">1970-01-01</date>
          <desc>
            <address>
              <addrLine>2 rue du Doyen-Gabriel-Marty - 31042 Toulouse Cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.ut-capitole.fr/</ref>
          </desc>
          <listRelation>
            <relation name="443875" active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-443875" status="VALID">
          <idno type="ROR">https://ror.org/017tgbk05</idno>
          <orgName>Communauté d'universités et établissements de Toulouse</orgName>
          <orgName type="acronym">Comue de Toulouse</orgName>
          <desc>
            <address>
              <addrLine>41 Allée Jules Guesde, 31000 Toulouse</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.univ-toulouse.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-116255" status="VALID">
          <idno type="IdRef">026388766</idno>
          <idno type="ISNI">0000 0001 2286 8343</idno>
          <idno type="ROR">https://ror.org/01h8pf755</idno>
          <idno type="Wikidata">Q858979</idno>
          <orgName>Institut National des Sciences Appliquées - Toulouse</orgName>
          <orgName type="acronym">INSA Toulouse</orgName>
          <date type="start">1963-10-21</date>
          <desc>
            <address>
              <addrLine>135, avenue de Rangueil - 31077 Toulouse cedex 4</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.insa-toulouse.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-301232" type="direct"/>
            <relation active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-301232" status="VALID">
          <idno type="IdRef">162105150</idno>
          <orgName>Institut National des Sciences Appliquées</orgName>
          <orgName type="acronym">INSA</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
        </org>
        <org type="institution" xml:id="struct-116256" status="VALID">
          <idno type="IdRef">026403994</idno>
          <idno type="ROR">https://ror.org/04ezk3x31</idno>
          <orgName>Université Toulouse - Jean Jaurès</orgName>
          <orgName type="acronym">UT2J</orgName>
          <date type="start">1971-01-01</date>
          <desc>
            <address>
              <addrLine>5 allées Antonio Machado - 31058 Toulouse Cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-tlse2.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-217752" status="OLD">
          <idno type="IdRef">026404672</idno>
          <idno type="ISNI">0000000121617331</idno>
          <idno type="ROR">https://ror.org/02v6kpv12</idno>
          <idno type="Wikidata">Q1273188</idno>
          <orgName>Université Toulouse III - Paul Sabatier</orgName>
          <orgName type="acronym">UT3</orgName>
          <date type="end">2025-01-01</date>
          <desc>
            <address>
              <addrLine>118 route de Narbonne - 31062 Toulouse</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-tlse3.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-448187" status="VALID">
          <idno type="IdRef">026388820</idno>
          <idno type="ISNI">0000000121766169</idno>
          <idno type="ROR">https://ror.org/033p9g875</idno>
          <orgName>Institut National Polytechnique (Toulouse)</orgName>
          <orgName type="acronym">Toulouse INP</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.inp-toulouse.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
      </listOrg>
      <listOrg type="projects">
        <org type="anrProject" xml:id="projanr-47730" status="VALID">
          <idno type="anr">ANR-18-CE40-0010</idno>
          <orgName>HANDY</orgName>
          <desc>Systèmes Dynamiques Hybrides et en Réseau</desc>
          <date type="start">2018</date>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>