{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2022:4A7E5MDC2AI27FZZCC6ZW26O2N","short_pith_number":"pith:4A7E5MDC","schema_version":"1.0","canonical_sha256":"e03e4eb062d011af973910bd9b6bced37a1bc7ccd840b7d32221b657b915b379","source":{"kind":"arxiv","id":"2210.15930","version":1},"attestation_state":"computed","paper":{"title":"Lyapunov-based Nonlinear Model Predictive Control for Attitude Trajectory Tracking of Unmanned Aerial Vehicles","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Duy Nam Bui, Manh Duong Phung, Thi Thanh Van Nguyen","submitted_at":"2022-10-28T06:21:32Z","abstract_excerpt":"This paper presents a new Lyapunov-based nonlinear model predictive controller (LNMPC) for the attitude control problem of unmanned aerial vehicles (UAVs), which is essential for their functioning operation. The controller is designed based on a quadratic cost function integrating UAV dynamics and system constraints. An additional contraction constraint is then introduced to ensure closed-loop system stability. That constraint is fulfilled via a Lyapunov function derived from a sliding mode controller (SMC). The feasibility and stability of the LNMPC are finally proved. Simulation and comparis"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2210.15930","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-10-28T06:21:32Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"3cd4df57f71d46670b4184122da1749057b03dd8e401778bac00bf2a152ebbb5","abstract_canon_sha256":"e4047daf6273b739108e7f9a9cf97d438f4b2f41beb4d96424e4350845e8549b"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:29:19.467742Z","signature_b64":"OnGas/Nuk1suAGNbV9dPP5S9uy/Rhe1L2kd9JrDpJvSRQBbTGwUhMDIFXvvl8UKb60EhMAq/lXnjeVDlT4OvDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e03e4eb062d011af973910bd9b6bced37a1bc7ccd840b7d32221b657b915b379","last_reissued_at":"2026-07-05T05:29:19.467306Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:29:19.467306Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Lyapunov-based Nonlinear Model Predictive Control for Attitude Trajectory Tracking of Unmanned Aerial Vehicles","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Duy Nam Bui, Manh Duong Phung, Thi Thanh Van Nguyen","submitted_at":"2022-10-28T06:21:32Z","abstract_excerpt":"This paper presents a new Lyapunov-based nonlinear model predictive controller (LNMPC) for the attitude control problem of unmanned aerial vehicles (UAVs), which is essential for their functioning operation. The controller is designed based on a quadratic cost function integrating UAV dynamics and system constraints. An additional contraction constraint is then introduced to ensure closed-loop system stability. That constraint is fulfilled via a Lyapunov function derived from a sliding mode controller (SMC). The feasibility and stability of the LNMPC are finally proved. Simulation and comparis"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.15930","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2210.15930/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"aliases":[{"alias_kind":"arxiv","alias_value":"2210.15930","created_at":"2026-07-05T05:29:19.467376+00:00"},{"alias_kind":"arxiv_version","alias_value":"2210.15930v1","created_at":"2026-07-05T05:29:19.467376+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.15930","created_at":"2026-07-05T05:29:19.467376+00:00"},{"alias_kind":"pith_short_12","alias_value":"4A7E5MDC2AI2","created_at":"2026-07-05T05:29:19.467376+00:00"},{"alias_kind":"pith_short_16","alias_value":"4A7E5MDC2AI27FZZ","created_at":"2026-07-05T05:29:19.467376+00:00"},{"alias_kind":"pith_short_8","alias_value":"4A7E5MDC","created_at":"2026-07-05T05:29:19.467376+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/4A7E5MDC2AI27FZZCC6ZW26O2N","json":"https://pith.science/pith/4A7E5MDC2AI27FZZCC6ZW26O2N.json","graph_json":"https://pith.science/api/pith-number/4A7E5MDC2AI27FZZCC6ZW26O2N/graph.json","events_json":"https://pith.science/api/pith-number/4A7E5MDC2AI27FZZCC6ZW26O2N/events.json","paper":"https://pith.science/paper/4A7E5MDC"},"agent_actions":{"view_html":"https://pith.science/pith/4A7E5MDC2AI27FZZCC6ZW26O2N","download_json":"https://pith.science/pith/4A7E5MDC2AI27FZZCC6ZW26O2N.json","view_paper":"https://pith.science/paper/4A7E5MDC","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2210.15930&json=true","fetch_graph":"https://pith.science/api/pith-number/4A7E5MDC2AI27FZZCC6ZW26O2N/graph.json","fetch_events":"https://pith.science/api/pith-number/4A7E5MDC2AI27FZZCC6ZW26O2N/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/4A7E5MDC2AI27FZZCC6ZW26O2N/action/timestamp_anchor","attest_storage":"https://pith.science/pith/4A7E5MDC2AI27FZZCC6ZW26O2N/action/storage_attestation","attest_author":"https://pith.science/pith/4A7E5MDC2AI27FZZCC6ZW26O2N/action/author_attestation","sign_citation":"https://pith.science/pith/4A7E5MDC2AI27FZZCC6ZW26O2N/action/citation_signature","submit_replication":"https://pith.science/pith/4A7E5MDC2AI27FZZCC6ZW26O2N/action/replication_record"}},"created_at":"2026-07-05T05:29:19.467376+00:00","updated_at":"2026-07-05T05:29:19.467376+00:00"}