{"id":"https://openalex.org/W7225630722","doi":"https://doi.org/10.1017/aer.2026.10243","title":"Observer-based improved robust control design for a serially reconfigurable quadrotor","display_name":"Observer-based improved robust control design for a serially reconfigurable quadrotor","publication_year":2026,"publication_date":"2026-11-09","ids":{"openalex":"https://openalex.org/W7225630722","doi":"https://doi.org/10.1017/aer.2026.10243"},"language":"en","primary_location":{"id":"doi:10.1017/aer.2026.10243","doi":"https://doi.org/10.1017/aer.2026.10243","is_oa":false,"landing_page_url":"https://doi.org/10.1017/aer.2026.10243","pdf_url":null,"source":{"id":"https://openalex.org/S2764989785","display_name":"The Aeronautical Journal","issn_l":"0001-9240","issn":["0001-9240","2059-6464"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-d","jufo-1","norway-1","poland-70","russia-white-list-2"],"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The Aeronautical Journal","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"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/A5069761758","display_name":"Ayoub Daadi","orcid":"https://orcid.org/0009-0003-2258-4262","observed_orcids":["https://orcid.org/0009-0003-2258-4262"]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Ayoub Daadi","raw_affiliation_strings":["Directorate of Research and Development","Ecole Militaire Polytechnique"],"raw_orcid":"https://orcid.org/0009-0003-2258-4262","affiliations":[{"raw_affiliation_string":"Directorate of Research and Development","institution_ids":[]},{"raw_affiliation_string":"Ecole Militaire Polytechnique","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035814822","display_name":"Yasser Bouzid","orcid":"https://orcid.org/0000-0002-8400-9912","observed_orcids":["https://orcid.org/0000-0002-8400-9912","https://orcid.org/0000-0003-3021-5080"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yasser Bouzid","raw_affiliation_strings":["Ecole Militaire Polytechnique"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Militaire Polytechnique","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000411789","display_name":"Oualid Araar","orcid":"https://orcid.org/0000-0001-5403-4810","observed_orcids":["https://orcid.org/0000-0001-5403-4810"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Oualid Araar","raw_affiliation_strings":["Ecole Militaire Polytechnique"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Militaire Polytechnique","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020543350","display_name":"Saddam Hocine Derrouaoui","orcid":"https://orcid.org/0000-0001-5441-8224","observed_orcids":["https://orcid.org/0000-0001-5441-8224"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Saddam Hocine Derrouaoui","raw_affiliation_strings":["Ecole Superieure Ali Chabati"],"raw_orcid":"https://orcid.org/0000-0001-5441-8224","affiliations":[{"raw_affiliation_string":"Ecole Superieure Ali Chabati","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5119232341","display_name":"Amir Djekrif","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Amir Djekrif","raw_affiliation_strings":["Ecole Superieure Ali Chabati"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Superieure Ali Chabati","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5069761758"],"corresponding_institution_ids":[],"apc_list":{"value":3550,"currency":"USD","value_usd":3550},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"36"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9984999895095825,"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":0.9984999895095825,"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":0.00039999998989515007,"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/T13257","display_name":"Advanced Control and Stabilization in Aerospace Systems","score":0.00019999999494757503,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robust-control","display_name":"robust control","score":0.8820000290870667},{"id":"https://openalex.org/keywords/terminal-sliding-mode-control","display_name":"terminal sliding mode control","score":0.871999979019165},{"id":"https://openalex.org/keywords/finite-time-disturbance-observer","display_name":"finite-time disturbance observer","score":0.9430000185966492},{"id":"https://openalex.org/keywords/chattering-reduction","display_name":"chattering reduction","score":0.878000020980835},{"id":"https://openalex.org/keywords/nonlinear-dynamic-modelling","display_name":"nonlinear dynamic modelling","score":0.7269999980926514},{"id":"https://openalex.org/keywords/whale-optimization-algorithm","display_name":"whale optimization algorithm","score":0.7009999752044678},{"id":"https://openalex.org/keywords/parameter-tuning","display_name":"parameter tuning","score":0.8330000042915344},{"id":"https://openalex.org/keywords/disturbance-rejection","display_name":"disturbance rejection","score":0.5979999899864197}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7732999920845032},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7487000226974487},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6011999845504761},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.576200008392334},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.49630001187324524},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.46720001101493835},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4489000141620636},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4320000112056732},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.4043000042438507},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4007999897003174},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3977999985218048},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.3357999920845032},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.314300000667572},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3018999993801117},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29330000281333923},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.28380000591278076},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.2628999948501587},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.2547999918460846}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/aer.2026.10243","doi":"https://doi.org/10.1017/aer.2026.10243","is_oa":false,"landing_page_url":"https://doi.org/10.1017/aer.2026.10243","pdf_url":null,"source":{"id":"https://openalex.org/S2764989785","display_name":"The Aeronautical Journal","issn_l":"0001-9240","issn":["0001-9240","2059-6464"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-d","jufo-1","norway-1","poland-70","russia-white-list-2"],"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The Aeronautical Journal","raw_type":"journal-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":36,"referenced_works":["https://openalex.org/W1988837728","https://openalex.org/W2368657857","https://openalex.org/W2581440774","https://openalex.org/W2614122538","https://openalex.org/W2805076621","https://openalex.org/W2923014601","https://openalex.org/W2968479790","https://openalex.org/W3009678275","https://openalex.org/W3092438881","https://openalex.org/W3128810363","https://openalex.org/W3153744555","https://openalex.org/W3154051857","https://openalex.org/W3175143658","https://openalex.org/W4220892487","https://openalex.org/W4288080512","https://openalex.org/W4312243490","https://openalex.org/W4321609184","https://openalex.org/W4367663215","https://openalex.org/W4385340900","https://openalex.org/W4388182191","https://openalex.org/W4392940037","https://openalex.org/W4394627550","https://openalex.org/W4396542250","https://openalex.org/W4401830760","https://openalex.org/W4405347512","https://openalex.org/W4405441772","https://openalex.org/W4409658779","https://openalex.org/W4410771217","https://openalex.org/W4411450427","https://openalex.org/W4412802433","https://openalex.org/W4413557211","https://openalex.org/W4413917046","https://openalex.org/W4413945690","https://openalex.org/W4415991898","https://openalex.org/W4416749053","https://openalex.org/W7160414378"],"related_works":["https://openalex.org/W7160414378","https://openalex.org/W4310584087","https://openalex.org/W7204838517","https://openalex.org/W4406891348","https://openalex.org/W4382050702","https://openalex.org/W7148836489","https://openalex.org/W4389251028","https://openalex.org/W3164663456","https://openalex.org/W7213979803","https://openalex.org/W7208733163"],"abstract_inverted_index":{"Abstract":[0],"Recent":[1],"advances":[2],"in":[3,75],"aerial":[4,202],"robotics":[5],"have":[6],"led":[7],"to":[8,40,95,142],"the":[9,17,68,76,97,146,155,164,191,196],"development":[10],"of":[11,78,99,195],"variable":[12],"geometry":[13],"platforms,":[14],"such":[15,31],"as":[16],"serially":[18],"reconfigurable":[19,201],"quadrotor":[20],"(SRQ),":[21],"which":[22],"enhance":[23],"flexibility,":[24],"adaptability":[25],"and":[26,47,83,140,148,174,185,193],"mission":[27],"versatility.":[28],"However,":[29],"controlling":[30],"morphologically":[32],"adaptive":[33],"systems":[34],"remains":[35],"a":[36,60,90,100,114,123],"significant":[37],"challenge":[38],"due":[39],"time-varying":[41],"parameters,":[42],"strong":[43],"nonlinearities,":[44],"structural":[45],"asymmetries":[46],"modelling":[48],"uncertainties":[49],"introduced":[50],"by":[51],"reconfiguration.":[52],"To":[53],"overcome":[54],"these":[55],"challenges,":[56],"this":[57,88],"paper":[58],"presents":[59],"comprehensive":[61],"nonlinear":[62],"dynamic":[63],"model":[64],"that":[65,104,163],"accurately":[66],"describes":[67],"SRQ":[69],"behaviour":[70],"while":[71],"accounting":[72],"for":[73,200],"variations":[74],"moments":[77],"inertia,":[79],"their":[80],"time":[81,125],"derivatives":[82],"aerodynamic":[84],"effects.":[85],"Based":[86],"on":[87],"model,":[89],"geometric":[91],"simplification":[92],"is":[93],"proposed":[94,130,165,197],"enable":[96],"synthesis":[98],"robust":[101],"control":[102,131,183,198],"framework":[103,167],"integrates":[105],"an":[106],"improved":[107],"power":[108],"rate":[109],"reaching":[110],"law":[111],"(IPRRL)":[112],"within":[113],"fast":[115,134],"terminal":[116],"sliding":[117,181],"mode":[118,182],"controller":[119,147],"(FTSMC)":[120],"combined":[121],"with":[122,179],"finite":[124],"disturbance":[126],"observer":[127,149],"(FTDO).":[128],"The":[129],"scheme":[132],"guarantees":[133],"finite-time":[135],"convergence,":[136],"effective":[137],"chattering":[138,176],"suppression":[139],"robustness":[141,173],"external":[143],"disturbances.":[144],"Moreover,":[145],"parameters":[150],"are":[151],"optimally":[152],"tuned":[153],"using":[154],"whale":[156],"optimisation":[157],"algorithm":[158],"(WOA).":[159],"Simulation":[160],"results":[161,189],"demonstrate":[162],"IPRRL\u2013FTSMC":[166],"achieves":[168],"superior":[169],"tracking":[170],"precision,":[171],"enhanced":[172],"substantial":[175],"reduction":[177],"compared":[178],"conventional":[180],"(SMC)":[184],"FTSMC":[186],"controllers.":[187],"These":[188],"confirm":[190],"effectiveness":[192],"reliability":[194],"approach":[199],"robotic":[203],"systems.":[204]},"counts_by_year":[],"updated_date":"2026-11-11T12:16:26.678958","created_date":"2026-11-10T00:00:00"}
