{"id":"https://openalex.org/W2808864942","doi":"https://doi.org/10.1109/access.2018.2845134","title":"Extended State Observer-Based Robust Backstepping Sliding Mode Control for a Small-Size Helicopter","display_name":"Extended State Observer-Based Robust Backstepping Sliding Mode Control for a Small-Size Helicopter","publication_year":2018,"publication_date":"2018-01-01","ids":{"openalex":"https://openalex.org/W2808864942","doi":"https://doi.org/10.1109/access.2018.2845134","mag":"2808864942"},"language":"en","primary_location":{"id":"doi:10.1109/access.2018.2845134","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2845134","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2018.2845134","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010662576","display_name":"Miaolei He","orcid":"https://orcid.org/0000-0003-4743-2663"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Miaolei He","raw_affiliation_strings":["The State Key Laboratory of High Performance Complex Manufacturing, Central South University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0003-4743-2663","affiliations":[{"raw_affiliation_string":"The State Key Laboratory of High Performance Complex Manufacturing, Central South University, Changsha, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100966635","display_name":"Jilin He","orcid":"https://orcid.org/0009-0004-6151-2015"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jilin He","raw_affiliation_strings":["The State Key Laboratory of High Performance Complex Manufacturing, Central South University, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of High Performance Complex Manufacturing, Central South University, Changsha, China","institution_ids":["https://openalex.org/I139660479"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5010662576"],"corresponding_institution_ids":["https://openalex.org/I139660479"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":3.9332,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.94132241,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"6","issue":null,"first_page":"33480","last_page":"33488"},"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/T12158","display_name":"Guidance and Control Systems","score":0.996399998664856,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9947999715805054,"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":0.8983871936798096},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.8788120150566101},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7427587509155273},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.5991818904876709},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5836727023124695},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.5601899027824402},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5573874711990356},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5485889315605164},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.5453445911407471},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5197893381118774},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47654086351394653},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4620394706726074},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.44556817412376404},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.38166284561157227},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25610220432281494},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.19336089491844177},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19300416111946106},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.19019028544425964},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11477294564247131},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0536632239818573}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8983871936798096},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.8788120150566101},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7427587509155273},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.5991818904876709},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5836727023124695},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.5601899027824402},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5573874711990356},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5485889315605164},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.5453445911407471},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5197893381118774},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47654086351394653},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4620394706726074},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.44556817412376404},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.38166284561157227},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25610220432281494},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.19336089491844177},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19300416111946106},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.19019028544425964},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11477294564247131},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0536632239818573},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2018.2845134","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2845134","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:0a74241444c0445b9670439d7cb9a612","is_oa":true,"landing_page_url":"https://doaj.org/article/0a74241444c0445b9670439d7cb9a612","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 6, Pp 33480-33488 (2018)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2018.2845134","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2845134","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6600000262260437,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321514","display_name":"Central South University","ror":"https://ror.org/00f1zfq44"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1980217642","https://openalex.org/W1994262247","https://openalex.org/W1999532877","https://openalex.org/W2003688959","https://openalex.org/W2019271926","https://openalex.org/W2061887515","https://openalex.org/W2068057382","https://openalex.org/W2072001203","https://openalex.org/W2088835836","https://openalex.org/W2091162666","https://openalex.org/W2129226301","https://openalex.org/W2135493101","https://openalex.org/W2148182166","https://openalex.org/W2154074205","https://openalex.org/W2192965598","https://openalex.org/W2240128610","https://openalex.org/W2334750579","https://openalex.org/W2411370636","https://openalex.org/W2414206889","https://openalex.org/W2418368699","https://openalex.org/W2520134048","https://openalex.org/W2521097701","https://openalex.org/W2532384824","https://openalex.org/W2549793718","https://openalex.org/W2579894641","https://openalex.org/W2901136733","https://openalex.org/W3125834474","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W3088355205","https://openalex.org/W2511965278","https://openalex.org/W3150198677","https://openalex.org/W3123253234","https://openalex.org/W2386766233","https://openalex.org/W2172163927","https://openalex.org/W2382591036","https://openalex.org/W3177256865","https://openalex.org/W1965449281","https://openalex.org/W2375429440"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,25,38,47,54,70,84,92,99,103,106,112,121,126],"design":[4],"and":[5,31,40,73,108,123],"application":[6],"controller":[7,19],"for":[8],"a":[9,42,77],"small-size":[10],"unmanned":[11],"aerial":[12],"vehicle.":[13],"A":[14],"new":[15,43,78],"robust":[16],"sliding":[17,79],"mode":[18,80],"(SMC)":[20],"is":[21,50,66,87,95],"proposed":[22,127],"to":[23,52,68,89,119],"improve":[24],"performance":[26],"under":[27],"internal":[28],"model":[29],"uncertainty":[30],"external":[32,74],"disturbance":[33],"conditions.":[34],"To":[35,58],"precisely":[36],"control":[37,81],"attitude":[39,55,107],"position,":[41],"SMC":[44],"based":[45],"on":[46],"backstepping":[48,85],"technique":[49,86],"formulated":[51],"guarantee":[53],"system":[56,94],"stability.":[57],"implement":[59],"this":[60],"controller,":[61],"an":[62],"extended":[63],"state":[64],"observer":[65],"used":[67],"estimate":[69],"unmeasurable":[71],"states":[72],"disturbances.":[75],"Moreover,":[76],"method":[82],"with":[83],"applied":[88],"ensure":[90],"that":[91],"position":[93,109],"stable.":[96],"In":[97],"addition,":[98],"Lyapunov":[100],"theory":[101],"demonstrates":[102],"stability":[104],"of":[105,125],"loops.":[110],"Finally,":[111],"numerical":[113],"experimental":[114],"flight":[115],"results":[116],"are":[117],"provided":[118],"illustrate":[120],"effectiveness":[122],"robustness":[124],"controller.":[128]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":2}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}