{"id":"https://openalex.org/W4407477797","doi":"https://doi.org/10.1109/cac63892.2024.10865676","title":"Adaptive Tracking Control of Quadrotor Dragging System with Variable-Mass Surface Payload","display_name":"Adaptive Tracking Control of Quadrotor Dragging System with Variable-Mass Surface Payload","publication_year":2024,"publication_date":"2024-11-01","ids":{"openalex":"https://openalex.org/W4407477797","doi":"https://doi.org/10.1109/cac63892.2024.10865676"},"language":"en","primary_location":{"id":"doi:10.1109/cac63892.2024.10865676","doi":"https://doi.org/10.1109/cac63892.2024.10865676","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cac63892.2024.10865676","pdf_url":null,"source":{"id":"https://openalex.org/S4363604230","display_name":"China Automation Congress (CAC)","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":"2024 China Automation Congress (CAC)","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/A5033834129","display_name":"Yuhe Chen","orcid":"https://orcid.org/0009-0000-1570-8501","observed_orcids":["https://orcid.org/0009-0000-1570-8501"]},"institutions":[{"id":"https://openalex.org/I44468530","display_name":"Qingdao University of Technology","ror":"https://ror.org/01qzc0f54","country_code":"CN","type":"education","lineage":["https://openalex.org/I44468530"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhe Chen","raw_affiliation_strings":["School of Information and Control Engineering Qingdao University of Technology,Qingdao,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information and Control Engineering Qingdao University of Technology,Qingdao,China","institution_ids":["https://openalex.org/I44468530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101914208","display_name":"Dong Zhang","orcid":"https://orcid.org/0000-0002-9563-8415","observed_orcids":["https://orcid.org/0000-0002-9563-8415"]},"institutions":[{"id":"https://openalex.org/I44468530","display_name":"Qingdao University of Technology","ror":"https://ror.org/01qzc0f54","country_code":"CN","type":"education","lineage":["https://openalex.org/I44468530"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Zhang","raw_affiliation_strings":["School of Information and Control Engineering Qingdao University of Technology,Qingdao,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information and Control Engineering Qingdao University of Technology,Qingdao,China","institution_ids":["https://openalex.org/I44468530"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Guangyu Jia","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I44468530","display_name":"Qingdao University of Technology","ror":"https://ror.org/01qzc0f54","country_code":"CN","type":"education","lineage":["https://openalex.org/I44468530"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangyu Jia","raw_affiliation_strings":["School of Information and Control Engineering Qingdao University of Technology,Qingdao,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information and Control Engineering Qingdao University of Technology,Qingdao,China","institution_ids":["https://openalex.org/I44468530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052697795","display_name":"Jinlong Sun","orcid":"https://orcid.org/0000-0002-3373-2203","observed_orcids":["https://orcid.org/0000-0002-3373-2203"]},"institutions":[{"id":"https://openalex.org/I44468530","display_name":"Qingdao University of Technology","ror":"https://ror.org/01qzc0f54","country_code":"CN","type":"education","lineage":["https://openalex.org/I44468530"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinlong Sun","raw_affiliation_strings":["School of Information and Control Engineering Qingdao University of Technology,Qingdao,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information and Control Engineering Qingdao University of Technology,Qingdao,China","institution_ids":["https://openalex.org/I44468530"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111301669","display_name":"Lingzhi Mu","orcid":"https://orcid.org/0009-0006-2847-9166","observed_orcids":["https://orcid.org/0009-0006-2847-9166"]},"institutions":[{"id":"https://openalex.org/I44468530","display_name":"Qingdao University of Technology","ror":"https://ror.org/01qzc0f54","country_code":"CN","type":"education","lineage":["https://openalex.org/I44468530"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingzhi Mu","raw_affiliation_strings":["School of Information and Control Engineering Qingdao University of Technology,Qingdao,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information and Control Engineering Qingdao University of Technology,Qingdao,China","institution_ids":["https://openalex.org/I44468530"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I44468530"],"apc_list":null,"apc_paid":null,"fwci":0.7218,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.72402413,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"582","last_page":"587"},"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.00019999999494757503,"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/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":0.984000027179718},{"id":"https://openalex.org/keywords/adaptive-sliding-mode-control","display_name":"adaptive sliding mode control","score":0.9750000238418579},{"id":"https://openalex.org/keywords/nonlinear-disturbance-observer","display_name":"nonlinear disturbance observer","score":0.9980000257492065},{"id":"https://openalex.org/keywords/radial-basis-function-neural-network","display_name":"radial basis function neural network","score":0.996999979019165},{"id":"https://openalex.org/keywords/disturbance-compensation","display_name":"disturbance compensation","score":0.6309999823570251},{"id":"https://openalex.org/keywords/model-parameter-uncertainty","display_name":"model parameter uncertainty","score":0.7639999985694885},{"id":"https://openalex.org/keywords/time-varying-disturbances","display_name":"time-varying disturbances","score":0.7919999957084656}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.8838553428649902},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5294071435928345},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.49334755539894104},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4529886543750763},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4427720308303833},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.42996877431869507},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42969390749931335},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.34393006563186646},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30046209692955017},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2333677113056183},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16681185364723206},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1463768184185028},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06981238722801208},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cac63892.2024.10865676","doi":"https://doi.org/10.1109/cac63892.2024.10865676","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cac63892.2024.10865676","pdf_url":null,"source":{"id":"https://openalex.org/S4363604230","display_name":"China Automation Congress (CAC)","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":"2024 China Automation Congress (CAC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"sustainable_development_goals_aurora":[{"id":"https://metadata.un.org/sdg/7","score":0.8600000143051147,"display_name":"Affordable and clean energy"}],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1978555529","https://openalex.org/W2104791068","https://openalex.org/W2973675389","https://openalex.org/W3032217820","https://openalex.org/W3042973648","https://openalex.org/W3062426514","https://openalex.org/W3127821438","https://openalex.org/W3192438504","https://openalex.org/W4224251584","https://openalex.org/W4294591027","https://openalex.org/W4381435046","https://openalex.org/W4382135822","https://openalex.org/W4385550840","https://openalex.org/W4389961162","https://openalex.org/W4391229771"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W4288094128","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W2312786236","https://openalex.org/W20648474","https://openalex.org/W2109516765"],"abstract_inverted_index":{"In":[0,96],"this":[1],"paper.,":[2],"an":[3,56],"adaptive":[4,57,98],"sliding":[5,58],"mode":[6,59],"control":[7,120],"method":[8,121],"based":[9],"on":[10],"nonlinear":[11,86],"disturbance":[12],"observer":[13],"(NDO)":[14],"and":[15,43,76,82,89,103,112,127],"radial":[16],"basis":[17],"function":[18],"neural":[19],"network":[20,101],"(RBFNN)":[21],"is":[22,53,61,122],"proposed":[23,119],"for":[24,100,109],"a":[25,48],"class":[26],"of":[27,67,74,117],"quadrotor":[28],"using":[29],"cable":[30],"to":[31,63,80],"drag":[32],"surface":[33],"payload":[34],"with":[35],"variable":[36],"mass":[37,106],"under":[38],"unknown":[39,91],"time-varying":[40,92],"external":[41,93],"disturbances":[42],"model":[44,52],"parameter":[45],"uncertainties.":[46],"Firstly,":[47],"coupled":[49],"position":[50],"dynamics":[51],"established.":[54],"Secondly,":[55],"controller":[60],"designed":[62],"ensure":[64],"the":[65,84,90,115,118],"convergence":[66],"tracking":[68],"errors.":[69],"The":[70],"universal":[71],"approximation":[72],"ability":[73],"RBFNN":[75],"NDO":[77],"are":[78,107],"used":[79],"estimate":[81],"compensate":[83],"model's":[85],"coupling":[87],"component":[88],"disturbances,":[94],"respectively.":[95],"addition,":[97],"laws":[99],"weights":[102],"system":[104],"total":[105],"provided":[108],"online":[110],"updating":[111],"compensation.":[113],"Finally,":[114],"effectiveness":[116],"verified":[123],"by":[124],"theoretical":[125],"analysis":[126],"numerical":[128],"simulation.":[129]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-10-05T09:50:58.205359","created_date":"2025-10-10T00:00:00"}