{"id":"W4414413117","doi":"10.1115/1.4069922","title":"Geometric Disturbance Observer Based Nonlinear Model Predictive Control of a Quadrotor","year":2025,"lang":"en","type":"article","venue":"ASME Letters in Dynamic Systems and Control","topic":"Adaptive Control of Nonlinear Systems","field":"Engineering","cited_by":0,"is_retracted":false,"has_abstract":true,"ca_institutions":"National Research Council Canada; St. John’s Health Sciences Centre; Memorial University of Newfoundland","funders":"","keywords":"Control theory (sociology); Model predictive control; Trajectory; Nonlinear system; Disturbance (geology); Kalman filter; Position (finance); Observer (physics); Nonlinear model","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0002160071,0.0004212025,0.0003808175,0.0001325227,0.0001667313,0.0003985634,0.0004356285,0.0002673997,0.0008196946],"category_scores_gemma":[0.0004295908,0.0001326128,0.00021477,0.0001319023,0.0003506993,0.0002954449,0.0004125039,0.0004484073,0.0001841043],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0002633867,"about_ca_system_score_gemma":0.000327314,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.004063444,"about_ca_topic_score_gemma":0.002602436,"domain_scores_codex":[0.9998719,0.00002223347,0.000005219035,0.00003835275,0.00004453819,0.00001768492],"domain_scores_gemma":[0.9998536,0.00003329472,0.00003285904,0.00002130767,0.00005013765,0.000008691082],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.0001256024,0.00002268237,0.0005328551,0.00005880679,0.00002276394,0.0001383114,0.00004066495,0.938947,0.01789122,0.003624329,0.0006952403,0.03790057],"study_design_scores_gemma":[0.000003477187,0.00003287321,0.00008893846,0.000001405196,0.000001723527,0.000007377257,0.000002195667,0.99835,0.001053549,0.0001565794,0.0003004618,0.000001398405],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"methods","genre_scores_codex":[0.05136922,0.0002104284,0.9437382,0.0001151029,0.0001085219,0.0000252291,0.00004533506,0.0005141298,0.003873784],"genre_scores_gemma":[0.9795859,0.00007363395,0.01877686,0.00002675894,0.00001460587,0.00002248499,0.00005083604,0.00001312892,0.001435811],"genre_candidate":"methods","genre_consensus":"methods","teacher_disagreement_score":0.004063444,"threshold_uncertainty_score":0.008079588,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.004711305381769833,"score_gpt":0.1993514622030381,"score_spread":0.1946401568212683,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}