{"id":"https://openalex.org/W4388775487","doi":"https://doi.org/10.1080/00207179.2023.2285412","title":"Variable-gain sliding mode control for quadrotor vehicles: Lyapunov-based analysis and finite-time stability","display_name":"Variable-gain sliding mode control for quadrotor vehicles: Lyapunov-based analysis and finite-time stability","publication_year":2023,"publication_date":"2023-11-17","ids":{"openalex":"https://openalex.org/W4388775487","doi":"https://doi.org/10.1080/00207179.2023.2285412"},"language":"en","primary_location":{"id":"doi:10.1080/00207179.2023.2285412","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1080/00207179.2023.2285412","pdf_url":null,"source":{"id":"https://openalex.org/S88061139","display_name":"International Journal of Control","issn_l":"0020-7179","issn":["0020-7179","1366-5820"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Control","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/A5031601938","display_name":"Roger Miranda\u2010Colorado","orcid":"https://orcid.org/0000-0003-2016-4291"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Roger Miranda-Colorado","raw_affiliation_strings":["CONACyT-Instituto Polit\u00e9cnico Nacional-CITEDI, Tijuana, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CONACyT-Instituto Polit\u00e9cnico Nacional-CITEDI, Tijuana, M\u00e9xico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077855071","display_name":"Israel Dom\u00ednguez","orcid":"https://orcid.org/0000-0001-8194-449X"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Israel Dom\u00ednguez","raw_affiliation_strings":["Instituto Polit\u00e9cnico Nacional, Tijuana, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto Polit\u00e9cnico Nacional, Tijuana, M\u00e9xico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091082682","display_name":"Luis T. Aguilar","orcid":"https://orcid.org/0000-0001-6603-6485"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Luis T. Aguilar","raw_affiliation_strings":["Instituto Polit\u00e9cnico Nacional, Tijuana, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto Polit\u00e9cnico Nacional, Tijuana, M\u00e9xico","institution_ids":["https://openalex.org/I59361560"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5031601938"],"corresponding_institution_ids":["https://openalex.org/I59361560"],"apc_list":null,"apc_paid":null,"fwci":0.9814,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.76244291,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"97","issue":"11","first_page":"2565","last_page":"2583"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":1.0,"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":1.0,"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":0.9962999820709229,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9936000108718872,"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/control-theory","display_name":"Control theory (sociology)","score":0.9081374406814575},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7028886675834656},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6099351048469543},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6079859733581543},{"id":"https://openalex.org/keywords/variable-structure-control","display_name":"Variable structure control","score":0.5783872604370117},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5644893646240234},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.49662524461746216},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4864818751811981},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.43370530009269714},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4266761541366577},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.42476892471313477},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3971097767353058},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37471139430999756},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3239542245864868},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28159695863723755},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.23222616314888},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16725414991378784},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0592634379863739}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.9081374406814575},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7028886675834656},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6099351048469543},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6079859733581543},{"id":"https://openalex.org/C185109637","wikidata":"https://www.wikidata.org/wiki/Q7915740","display_name":"Variable structure control","level":4,"score":0.5783872604370117},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5644893646240234},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.49662524461746216},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4864818751811981},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.43370530009269714},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4266761541366577},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.42476892471313477},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3971097767353058},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37471139430999756},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3239542245864868},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28159695863723755},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.23222616314888},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16725414991378784},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0592634379863739},{"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/00207179.2023.2285412","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1080/00207179.2023.2285412","pdf_url":null,"source":{"id":"https://openalex.org/S88061139","display_name":"International Journal of Control","issn_l":"0020-7179","issn":["0020-7179","1366-5820"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321739","display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","ror":"https://ror.org/059ex5q34"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W1127426264","https://openalex.org/W1981076830","https://openalex.org/W1989051419","https://openalex.org/W1994688595","https://openalex.org/W2005634078","https://openalex.org/W2059385844","https://openalex.org/W2060446060","https://openalex.org/W2165771902","https://openalex.org/W2337020052","https://openalex.org/W2366908219","https://openalex.org/W2470875901","https://openalex.org/W2567336331","https://openalex.org/W2600696923","https://openalex.org/W2614732324","https://openalex.org/W2765250382","https://openalex.org/W2769498435","https://openalex.org/W2795071373","https://openalex.org/W2795709812","https://openalex.org/W2801511631","https://openalex.org/W2805902901","https://openalex.org/W2883179966","https://openalex.org/W2888742382","https://openalex.org/W2906686837","https://openalex.org/W2917243690","https://openalex.org/W2972057980","https://openalex.org/W2986558541","https://openalex.org/W2997601858","https://openalex.org/W3002898196","https://openalex.org/W3011186730","https://openalex.org/W3034898916","https://openalex.org/W3042976427","https://openalex.org/W3082556752","https://openalex.org/W3090252872","https://openalex.org/W3125544846","https://openalex.org/W3128704945","https://openalex.org/W3153744555","https://openalex.org/W3157046108","https://openalex.org/W3159732036","https://openalex.org/W3171725219","https://openalex.org/W3179672787","https://openalex.org/W4205747522","https://openalex.org/W4205951204","https://openalex.org/W4206318793","https://openalex.org/W4212879980","https://openalex.org/W4230148240","https://openalex.org/W4232811906","https://openalex.org/W4238864952","https://openalex.org/W4252907012","https://openalex.org/W4285211118","https://openalex.org/W4293078920","https://openalex.org/W6999851168"],"related_works":["https://openalex.org/W2352173564","https://openalex.org/W1845306153","https://openalex.org/W2166459078","https://openalex.org/W3008046258","https://openalex.org/W2391441277","https://openalex.org/W2306349892","https://openalex.org/W2274682661","https://openalex.org/W2786766270","https://openalex.org/W897560829","https://openalex.org/W2375807149"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"a":[3,7,36,45,86,134],"methodology":[4],"for":[5],"controlling":[6],"quadrotor":[8,32],"vehicle":[9],"in":[10],"both":[11,105],"regulation":[12],"and":[13,24,66,70,110,116],"trajectory":[14],"tracking":[15],"tasks":[16],"when":[17],"the":[18,28,31,51,57,64,77,108,111,121,140],"system":[19,79],"is":[20,33,80,94],"affected":[21],"by":[22,35,82,133],"endogenous":[23],"exogenous":[25],"disturbances.":[26,55,143],"In":[27],"proposed":[29,58,122],"approach,":[30],"driven":[34],"second-order":[37],"variable-gain":[38,47],"sliding":[39,88,136],"mode":[40,89,137],"controller":[41,52,59,90,124],"(VG-SMC),":[42],"which":[43],"includes":[44],"state-dependent":[46],"that":[48,120],"allows":[49],"enhancing":[50],"performance":[53,75],"against":[54],"Besides,":[56],"achieves":[60],"finite-time":[61],"convergence":[62],"of":[63,76,142],"position":[65],"orientation":[67],"error":[68],"signals":[69],"their":[71],"time":[72],"derivatives.":[73],"The":[74,102],"closed-loop":[78,128],"assessed":[81],"comparing":[83],"it":[84],"with":[85],"standard":[87],"whose":[91],"control":[92],"objective":[93],"to":[95],"track":[96],"two":[97],"optimal":[98],"smooth":[99],"reference":[100],"signals.":[101],"comparison":[103],"between":[104],"controllers":[106],"considers":[107],"undisturbed":[109],"perturbed":[112],"cases.":[113],"Numerical":[114],"simulations":[115],"experimental":[117],"results":[118,129],"demonstrate":[119],"VG-SMC":[123],"provides":[125],"better":[126],"overall":[127],"than":[130],"those":[131],"obtained":[132],"fixed-gain":[135],"controller,":[138],"despite":[139],"presence":[141]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-15T08:34:33.830935","created_date":"2025-10-10T00:00:00"}
