{"id":"https://openalex.org/W3013428285","doi":"https://doi.org/10.1109/rcar47638.2019.9043930","title":"Attitude Control for Quadcopter with Tilting Rotors using RBFNN-based Adaptive Terminal Sliding Mode Controller","display_name":"Attitude Control for Quadcopter with Tilting Rotors using RBFNN-based Adaptive Terminal Sliding Mode Controller","publication_year":2019,"publication_date":"2019-08-01","ids":{"openalex":"https://openalex.org/W3013428285","doi":"https://doi.org/10.1109/rcar47638.2019.9043930","mag":"3013428285"},"language":"en","primary_location":{"id":"doi:10.1109/rcar47638.2019.9043930","doi":"https://doi.org/10.1109/rcar47638.2019.9043930","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar47638.2019.9043930","pdf_url":null,"source":{"id":"https://openalex.org/S4363608312","display_name":"IEEE International Conference on Real-time Computing and Robotics (RCAR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100703933","display_name":"Qiuyan Zhang","orcid":"https://orcid.org/0000-0002-6815-7886","observed_orcids":["https://orcid.org/0000-0002-6815-7886"]},"institutions":[{"id":"https://openalex.org/I4405285022","display_name":"Guizhou Power Grid Co., Ltd. (China)","ror":"https://ror.org/04n5vvh78","country_code":"CN","type":"company","lineage":["https://openalex.org/I4405285022","https://openalex.org/I74872605"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiuyan Zhang","raw_affiliation_strings":["Guizhou Power Grid Co., Ltd, Guiyang, Guizhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guizhou Power Grid Co., Ltd, Guiyang, Guizhou, China","institution_ids":["https://openalex.org/I4405285022"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001637611","display_name":"Zhong Xue Yang","orcid":"https://orcid.org/0000-0002-0988-3757","observed_orcids":["https://orcid.org/0000-0002-0988-3757"]},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhong Yang","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yuhong Jiang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhong Jiang","raw_affiliation_strings":["Research Institute of UAV, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of UAV, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100324928","display_name":"Jinsong Li","orcid":"https://orcid.org/0000-0003-3456-662X","observed_orcids":["https://orcid.org/0000-0003-3456-662X"]},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinsong Li","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052074334","display_name":"Hao Xu","orcid":"https://orcid.org/0000-0002-1658-0068","observed_orcids":["https://orcid.org/0000-0002-1658-0068"]},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Xu","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028104073","display_name":"Changliang Xu","orcid":"https://orcid.org/0000-0002-8976-6832","observed_orcids":["https://orcid.org/0000-0002-8976-6832"]},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changliang Xu","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012749827","display_name":"Huarong Zeng","orcid":"https://orcid.org/0000-0003-2757-1199","observed_orcids":["https://orcid.org/0000-0003-2757-1199"]},"institutions":[{"id":"https://openalex.org/I4405285022","display_name":"Guizhou Power Grid Co., Ltd. (China)","ror":"https://ror.org/04n5vvh78","country_code":"CN","type":"company","lineage":["https://openalex.org/I4405285022","https://openalex.org/I74872605"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huarong Zeng","raw_affiliation_strings":["Guizhou Power Grid Co., Ltd, Guiyang, Guizhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guizhou Power Grid Co., Ltd, Guiyang, Guizhou, China","institution_ids":["https://openalex.org/I4405285022"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103249812","display_name":"Jiaming Han","orcid":"https://orcid.org/0000-0001-5513-5031","observed_orcids":["https://orcid.org/0000-0001-5513-5031","https://orcid.org/0000-0002-3078-9714"]},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaming Han","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080260974","display_name":"Shangxiang Lai","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shangxiang Lai","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106403013","display_name":"Hongchen Li","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongchen Li","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102020756","display_name":"Xiangrong Xu","orcid":"https://orcid.org/0000-0001-6055-6797","observed_orcids":["https://orcid.org/0000-0001-6055-6797"]},"institutions":[{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangrong Xu","raw_affiliation_strings":["School of Mechanical Engineering, Anhui University of Technology, Ma'anshan, Anhui, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Anhui University of Technology, Ma'anshan, Anhui, China","institution_ids":["https://openalex.org/I92178344"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3866,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.58977813,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"778","last_page":"785"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13855","display_name":"Aerospace Engineering and Control Systems","score":9.999999747378752e-05,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":9.999999747378752e-05,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/quadrotor","display_name":"quadrotor","score":0.8830000162124634},{"id":"https://openalex.org/keywords/attitude-control","display_name":"attitude control","score":0.9940000176429749},{"id":"https://openalex.org/keywords/terminal-sliding-mode-control","display_name":"terminal sliding mode control","score":0.9309999942779541},{"id":"https://openalex.org/keywords/radial-basis-function-neural-network","display_name":"radial basis function neural network","score":0.9599999785423279},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"adaptive control","score":0.859000027179718},{"id":"https://openalex.org/keywords/actuator-allocation","display_name":"actuator allocation","score":0.7720000147819519},{"id":"https://openalex.org/keywords/over-actuated-systems","display_name":"over-actuated systems","score":0.8259999752044678},{"id":"https://openalex.org/keywords/rigid-body-dynamics","display_name":"rigid body dynamics","score":0.7770000100135803},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"particle swarm optimization","score":0.7730000019073486},{"id":"https://openalex.org/keywords/finite-time-convergence","display_name":"finite-time convergence","score":0.7250000238418579},{"id":"https://openalex.org/keywords/global-asymptotic-stability","display_name":"global asymptotic stability","score":0.9580000042915344}],"concepts":[{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.9460138082504272},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.863735556602478},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.8125729560852051},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6586686372756958},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.5908958315849304},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5566417574882507},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5240683555603027},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.4281196892261505},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36916983127593994},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3251906633377075},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.30567488074302673},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.21366369724273682},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11114475131034851},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10448908805847168},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar47638.2019.9043930","doi":"https://doi.org/10.1109/rcar47638.2019.9043930","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar47638.2019.9043930","pdf_url":null,"source":{"id":"https://openalex.org/S4363608312","display_name":"IEEE International Conference on Real-time Computing and Robotics (RCAR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W314323493","https://openalex.org/W1487127700","https://openalex.org/W1561053133","https://openalex.org/W2007700211","https://openalex.org/W2043501156","https://openalex.org/W2049104730","https://openalex.org/W2089908769","https://openalex.org/W2110702780","https://openalex.org/W2152195021","https://openalex.org/W2396668188","https://openalex.org/W2402846924","https://openalex.org/W2468597192","https://openalex.org/W2478977977","https://openalex.org/W2497739843","https://openalex.org/W2526211909","https://openalex.org/W2645449544","https://openalex.org/W2683298768","https://openalex.org/W2769193365","https://openalex.org/W2775079955","https://openalex.org/W2783840519","https://openalex.org/W2888207191","https://openalex.org/W3009778453"],"related_works":["https://openalex.org/W4406208305","https://openalex.org/W4405522143","https://openalex.org/W4286306152","https://openalex.org/W4318818918","https://openalex.org/W3115078345","https://openalex.org/W3195374333","https://openalex.org/W7125591357","https://openalex.org/W4403377984","https://openalex.org/W4391342709","https://openalex.org/W4408867684"],"abstract_inverted_index":{"The":[0,136],"traditional":[1],"quadcopter":[2,64],"with":[3,20,65,132],"four":[4],"actuators":[5],"is":[6,68,88,103,143],"an":[7],"under-actuated":[8],"system,":[9],"cannot":[10],"achieve":[11,24],"decoupling":[12,26],"of":[13,51,62,76,114,121,139,162],"line":[14],"motion":[15],"and":[16,105,110,123,153,160],"angular":[17],"motion.":[18],"Quadcopter":[19],"tilting":[21,66],"rotors":[22,67],"can":[23],"6-degree-of-freedom":[25],"thanks":[27],"to":[28,39,72,146],"the":[29,33,37,42,48,52,57,63,74,106,115,140,144,158,163],"mechanical":[30],"structure":[31],"where":[32],"motor":[34,38],"base":[35],"allows":[36],"rotate":[40],"around":[41],"arm":[43],"axis,":[44],"which":[45],"greatly":[46],"expands":[47],"application":[49],"scenario":[50],"quadcopter.":[53],"In":[54,70],"this":[55],"paper,":[56],"rigid":[58],"body":[59],"dynamics":[60],"model":[61],"deduced.":[69],"order":[71],"solve":[73],"non-unique":[75],"actuator":[77],"action":[78],"caused":[79],"by":[80,127],"over-actuated,":[81],"a":[82],"new":[83],"linear":[84],"control":[85],"allocate":[86],"scheme":[87],"adopted.":[89],"A":[90],"terminal":[91],"sliding":[92],"mode":[93],"attitude":[94],"controller(TSMC)":[95],"based":[96],"on":[97],"RBF":[98,124],"neural":[99],"network":[100],"uncertainty":[101],"compensator":[102],"proposed,":[104],"finite":[107],"time":[108],"convergence":[109],"global":[111],"asymptotic":[112],"stability":[113],"closed-loop":[116],"system":[117],"are":[118,125],"proved.":[119],"Parameters":[120],"TSMC":[122],"optimized":[126],"particle":[128],"swarm":[129],"intelligence":[130],"algorithm":[131],"two":[133],"fitness":[134],"functions.":[135],"main":[137],"advantage":[138],"proposed":[141,164],"method":[142],"ability":[145],"observe":[147],"unknown":[148],"bounded":[149],"lumped":[150],"uncertainties":[151],"accurately":[152],"quickly.":[154],"Simulation":[155],"experiments":[156],"demonstrate":[157],"effectiveness":[159],"robustness":[161],"controller.":[165]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2020-04-03T00:00:00"}