{"id":"https://openalex.org/W3116341933","doi":"https://doi.org/10.1109/access.2020.3047659","title":"Adaptive Terminal Sliding Mode Control for Attitude and Position Tracking Control of Quadrotor UAVs in the Existence of External Disturbance","display_name":"Adaptive Terminal Sliding Mode Control for Attitude and Position Tracking Control of Quadrotor UAVs in the Existence of External Disturbance","publication_year":2020,"publication_date":"2020-12-28","ids":{"openalex":"https://openalex.org/W3116341933","doi":"https://doi.org/10.1109/access.2020.3047659","mag":"3116341933"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3047659","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3047659","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09309213.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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://ieeexplore.ieee.org/ielx7/6287639/9312710/09309213.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072343319","display_name":"Omid Mofid","orcid":"https://orcid.org/0000-0002-3540-1950"},"institutions":[{"id":"https://openalex.org/I75357094","display_name":"National Yunlin University of Science and Technology","ror":"https://ror.org/04qkq2m54","country_code":"TW","type":"education","lineage":["https://openalex.org/I75357094"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Omid Mofid","raw_affiliation_strings":["Future Technology Research Center, National Yunlin University of Science and Technology, Yunlin, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Future Technology Research Center, National Yunlin University of Science and Technology, Yunlin, Taiwan","institution_ids":["https://openalex.org/I75357094"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068858971","display_name":"Saleh Mobayen","orcid":"https://orcid.org/0000-0002-5676-1875"},"institutions":[{"id":"https://openalex.org/I75357094","display_name":"National Yunlin University of Science and Technology","ror":"https://ror.org/04qkq2m54","country_code":"TW","type":"education","lineage":["https://openalex.org/I75357094"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Saleh Mobayen","raw_affiliation_strings":["Future Technology Research Center, National Yunlin University of Science and Technology, Yunlin, Taiwan"],"raw_orcid":"https://orcid.org/0000-0002-5676-1875","affiliations":[{"raw_affiliation_string":"Future Technology Research Center, National Yunlin University of Science and Technology, Yunlin, Taiwan","institution_ids":["https://openalex.org/I75357094"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025319696","display_name":"Wing\u2010Kwong Wong","orcid":"https://orcid.org/0000-0003-2986-1464"},"institutions":[{"id":"https://openalex.org/I75357094","display_name":"National Yunlin University of Science and Technology","ror":"https://ror.org/04qkq2m54","country_code":"TW","type":"education","lineage":["https://openalex.org/I75357094"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Wing-Kwong Wong","raw_affiliation_strings":["Future Technology Research Center, National Yunlin University of Science and Technology, Yunlin, Taiwan","National Yunlin University of Science and Technology, Yunlin, Taiwan"],"raw_orcid":"https://orcid.org/0000-0003-2986-1464","affiliations":[{"raw_affiliation_string":"Future Technology Research Center, National Yunlin University of Science and Technology, Yunlin, Taiwan","institution_ids":["https://openalex.org/I75357094"]},{"raw_affiliation_string":"National Yunlin University of Science and Technology, Yunlin, Taiwan","institution_ids":["https://openalex.org/I75357094"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I75357094"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":8.3657,"has_fulltext":true,"cited_by_count":134,"citation_normalized_percentile":{"value":0.98468099,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"9","issue":null,"first_page":"3428","last_page":"3440"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.989300012588501,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.989300012588501,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.9040743112564087},{"id":"https://openalex.org/keywords/terminal-sliding-mode","display_name":"Terminal sliding mode","score":0.6982854604721069},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.6768554449081421},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.5963574051856995},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5894738435745239},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.5803754925727844},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5444428324699402},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5098087191581726},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.5040796995162964},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.5037574172019958},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4878968894481659},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4760929346084595},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4445442855358124},{"id":"https://openalex.org/keywords/terminal","display_name":"Terminal (telecommunication)","score":0.43679729104042053},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4315846562385559},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4234985411167145},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.353063702583313},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2709379494190216},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2697709798812866},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24911653995513916},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12912535667419434},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.12061813473701477},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0891185998916626}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.9040743112564087},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.6982854604721069},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.6768554449081421},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.5963574051856995},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5894738435745239},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.5803754925727844},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5444428324699402},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5098087191581726},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.5040796995162964},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.5037574172019958},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4878968894481659},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4760929346084595},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4445442855358124},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.43679729104042053},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4315846562385559},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4234985411167145},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.353063702583313},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2709379494190216},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2697709798812866},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24911653995513916},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12912535667419434},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.12061813473701477},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0891185998916626},{"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},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3047659","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3047659","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09309213.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:040d598d6f78491fb1d00395724339a6","is_oa":true,"landing_page_url":"https://doaj.org/article/040d598d6f78491fb1d00395724339a6","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 9, Pp 3428-3440 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3047659","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3047659","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09309213.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.4399999976158142}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3116341933.pdf","grobid_xml":"https://content.openalex.org/works/W3116341933.grobid-xml"},"referenced_works_count":70,"referenced_works":["https://openalex.org/W118146645","https://openalex.org/W166419845","https://openalex.org/W192104073","https://openalex.org/W805489484","https://openalex.org/W1878860818","https://openalex.org/W1972888932","https://openalex.org/W1979570448","https://openalex.org/W1979755025","https://openalex.org/W1988131668","https://openalex.org/W1990291111","https://openalex.org/W2026388474","https://openalex.org/W2035471600","https://openalex.org/W2056116960","https://openalex.org/W2056581689","https://openalex.org/W2064215720","https://openalex.org/W2067552596","https://openalex.org/W2077598229","https://openalex.org/W2087383031","https://openalex.org/W2090956093","https://openalex.org/W2123085078","https://openalex.org/W2236570928","https://openalex.org/W2288654967","https://openalex.org/W2316546760","https://openalex.org/W2316609320","https://openalex.org/W2325001424","https://openalex.org/W2328403412","https://openalex.org/W2341504020","https://openalex.org/W2366439035","https://openalex.org/W2462939526","https://openalex.org/W2487183230","https://openalex.org/W2520991400","https://openalex.org/W2529267069","https://openalex.org/W2532384824","https://openalex.org/W2553976574","https://openalex.org/W2555765291","https://openalex.org/W2575141250","https://openalex.org/W2576742616","https://openalex.org/W2589092250","https://openalex.org/W2589300875","https://openalex.org/W2591002471","https://openalex.org/W2591472330","https://openalex.org/W2592784538","https://openalex.org/W2593615053","https://openalex.org/W2625157291","https://openalex.org/W2899767203","https://openalex.org/W2921917588","https://openalex.org/W2924132571","https://openalex.org/W2944532051","https://openalex.org/W2952913193","https://openalex.org/W2958749291","https://openalex.org/W2964619661","https://openalex.org/W2976777045","https://openalex.org/W2981718602","https://openalex.org/W2986696338","https://openalex.org/W2989735947","https://openalex.org/W2990585150","https://openalex.org/W2993875089","https://openalex.org/W2998604048","https://openalex.org/W2998789752","https://openalex.org/W3000628163","https://openalex.org/W3002591267","https://openalex.org/W3004045632","https://openalex.org/W3008177375","https://openalex.org/W3045347666","https://openalex.org/W3048020650","https://openalex.org/W3048104656","https://openalex.org/W4256312028","https://openalex.org/W6622782076","https://openalex.org/W6639622394","https://openalex.org/W6678290223"],"related_works":["https://openalex.org/W2356356101","https://openalex.org/W2109651492","https://openalex.org/W2380965978","https://openalex.org/W2131481667","https://openalex.org/W2016095328","https://openalex.org/W2404840993","https://openalex.org/W1995636945","https://openalex.org/W4214925198","https://openalex.org/W1788310316","https://openalex.org/W2605005657"],"abstract_inverted_index":{"In":[0,28],"this":[1],"paper,":[2],"a":[3,41],"6-Degrees-of-Freedom":[4],"(6-DOF)":[5],"Unmanned":[6],"Aerial":[7],"Vehicle":[8],"(UAV)":[9],"system":[10],"with":[11],"external":[12,36,66,123],"disturbance":[13,37,67],"corresponding":[14],"to":[15,147],"sensor":[16],"failure":[17],"is":[18,23,38,49,68,80],"considered.":[19],"The":[20],"control":[21,87,98,137],"method":[22,79,99],"presented":[24],"in":[25,56,71,110,128],"two":[26],"parts.":[27],"the":[29,32,53,57,61,65,72,76,92,96,102,111,116,122,129,149,152],"first":[30],"part,":[31],"upper":[33,62],"bound":[34,63,120],"of":[35,64,88,118,121,151],"known":[39],"and":[40,75,84,108],"Proportional-Integral-Derivative":[42],"(PID)":[43],"Sliding":[44],"Mode":[45],"Control":[46],"(SMC)":[47],"technique":[48],"planned":[50],"for":[51,82,115],"maintaining":[52],"desired":[54],"position":[55,85],"finite":[58,112],"time.":[59,113],"Whereas,":[60],"considered":[69],"unknown":[70,119],"second":[73],"part":[74],"adaptive":[77,136],"PID-SMC":[78],"offered":[81,97],"stability":[83,94],"tracking":[86],"UAV":[89],"systems.":[90],"Using":[91],"Lyapunov":[93],"notion,":[95],"proves":[100],"that":[101],"quadrotor's":[103],"states":[104],"can":[105],"be":[106],"tracked":[107],"stabilized":[109],"Moreover,":[114],"approximation":[117],"disturbances":[124],"which":[125],"are":[126,145],"entered":[127],"quadrotor":[130],"dynamic":[131],"model":[132],"at":[133],"any":[134],"moment,":[135],"laws":[138],"have":[139],"been":[140],"applied.":[141],"Finally,":[142],"simulation":[143],"outcomes":[144],"provided":[146],"display":[148],"efficiency":[150],"recommended":[153],"technique.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":15},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":28},{"year":2023,"cited_by_count":27},{"year":2022,"cited_by_count":30},{"year":2021,"cited_by_count":14}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}