{"id":"https://openalex.org/W7160325935","doi":"https://doi.org/10.1016/j.jfranklin.2026.108696","title":"Majorant-based control for trajectory tracking of quadrotor UAVs under external disturbances","display_name":"Majorant-based control for trajectory tracking of quadrotor UAVs under external disturbances","publication_year":2026,"publication_date":"2026-05-05","ids":{"openalex":"https://openalex.org/W7160325935","doi":"https://doi.org/10.1016/j.jfranklin.2026.108696"},"language":"en","primary_location":{"id":"doi:10.1016/j.jfranklin.2026.108696","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.jfranklin.2026.108696","pdf_url":null,"source":{"id":"https://openalex.org/S183498172","display_name":"Journal of the Franklin Institute","issn_l":"0016-0032","issn":["0016-0032","1879-2693"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of the Franklin Institute","raw_type":"journal-article"},"type":"article","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/A5135367473","display_name":"Yanning Guo","orcid":"https://orcid.org/0000-0001-6150-3646"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanning Guo","raw_affiliation_strings":["Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, 150001, China","Zhengzhou Advanced Research Institute, Harbin Institute of Technology, Zhengzhou, 450000, China"],"raw_orcid":"https://orcid.org/0000-0001-6150-3646","affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, 150001, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Zhengzhou Advanced Research Institute, Harbin Institute of Technology, Zhengzhou, 450000, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135322194","display_name":"Jie Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Gao","raw_affiliation_strings":["Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, 150001, China","Zhengzhou Advanced Research Institute, Harbin Institute of Technology, Zhengzhou, 450000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, 150001, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Zhengzhou Advanced Research Institute, Harbin Institute of Technology, Zhengzhou, 450000, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135286842","display_name":"Guangtao Ran","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Guangtao Ran","raw_affiliation_strings":["Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, 150001, China"],"raw_orcid":"https://orcid.org/0000-0001-7711-1436","affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, 150001, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135366526","display_name":"Sihong Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sihong Gao","raw_affiliation_strings":["Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, 150001, China","Zhengzhou Advanced Research Institute, Harbin Institute of Technology, Zhengzhou, 450000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, 150001, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Zhengzhou Advanced Research Institute, Harbin Institute of Technology, Zhengzhou, 450000, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070765138","display_name":"C S Li","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuanjiang Li","raw_affiliation_strings":["Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, 150001, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5135286842"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":{"value":2700,"currency":"USD","value_usd":2700},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.50385762,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"363","issue":"9","first_page":"108696","last_page":"108696"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.8970999717712402,"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":0.8970999717712402,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.01759999990463257,"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/T12125","display_name":"Aerospace and Aviation Technology","score":0.01510000042617321,"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/control-theory","display_name":"Control theory (sociology)","score":0.8708999752998352},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6912000179290771},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6141999959945679},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.487199991941452},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.44850000739097595},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.43709999322891235},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.4268999993801117},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.4242999851703644}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8708999752998352},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6912000179290771},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6141999959945679},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5145000219345093},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.487199991941452},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.44850000739097595},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4410000145435333},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.43709999322891235},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.4268999993801117},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.4242999851703644},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.41100001335144043},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4108000099658966},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.40689998865127563},{"id":"https://openalex.org/C3017729373","wikidata":"https://www.wikidata.org/wiki/Q30324728","display_name":"Position tracking","level":3,"score":0.38850000500679016},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3682999908924103},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3395000100135803},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.29170000553131104},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.27900001406669617},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.2709999978542328},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.26510000228881836},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.25369998812675476}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.jfranklin.2026.108696","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.jfranklin.2026.108696","pdf_url":null,"source":{"id":"https://openalex.org/S183498172","display_name":"Journal of the Franklin Institute","issn_l":"0016-0032","issn":["0016-0032","1879-2693"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of the Franklin Institute","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W2785374546","https://openalex.org/W2790260062","https://openalex.org/W2901397275","https://openalex.org/W2939623904","https://openalex.org/W2943950188","https://openalex.org/W2964789461","https://openalex.org/W3044921708","https://openalex.org/W3123049267","https://openalex.org/W3214152676","https://openalex.org/W4205229647","https://openalex.org/W4206941219","https://openalex.org/W4291595133","https://openalex.org/W4292566775","https://openalex.org/W4296202469","https://openalex.org/W4307995266","https://openalex.org/W4312529080","https://openalex.org/W4377231486","https://openalex.org/W4383424655","https://openalex.org/W4389365329","https://openalex.org/W4390956158","https://openalex.org/W4391128394","https://openalex.org/W4396538117","https://openalex.org/W4400123845","https://openalex.org/W4400188073","https://openalex.org/W4406094897","https://openalex.org/W4406941799","https://openalex.org/W4408867684","https://openalex.org/W4410114761","https://openalex.org/W4414277673","https://openalex.org/W7115194276"],"related_works":[],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-05-14T06:09:40.864956","created_date":"2026-05-06T00:00:00"}