{"id":"https://openalex.org/W4361991229","doi":"https://doi.org/10.1109/access.2023.3263528","title":"Robust Adaptive Backstepping Control of Quadrotors With Unknown Input Gains","display_name":"Robust Adaptive Backstepping Control of Quadrotors With Unknown Input Gains","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4361991229","doi":"https://doi.org/10.1109/access.2023.3263528"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3263528","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3263528","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10089414.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":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://ieeexplore.ieee.org/ielx7/6287639/6514899/10089414.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001471820","display_name":"Jeng\u2010Tze Huang","orcid":"https://orcid.org/0000-0002-5246-8583"},"institutions":[{"id":"https://openalex.org/I205612303","display_name":"Chinese Culture University","ror":"https://ror.org/04shepe48","country_code":"TW","type":"education","lineage":["https://openalex.org/I205612303"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Jeng-Tze Huang","raw_affiliation_strings":["Institute of Digital Mechatronic Technology, Chinese Culture University, Taipei, Taiwan"],"affiliations":[{"raw_affiliation_string":"Institute of Digital Mechatronic Technology, Chinese Culture University, Taipei, Taiwan","institution_ids":["https://openalex.org/I205612303"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032657137","display_name":"Yu\u2010Wei Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I205612303","display_name":"Chinese Culture University","ror":"https://ror.org/04shepe48","country_code":"TW","type":"education","lineage":["https://openalex.org/I205612303"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Yu-Wei Jiang","raw_affiliation_strings":["Institute of Digital Mechatronic Technology, Chinese Culture University, Taipei, Taiwan"],"affiliations":[{"raw_affiliation_string":"Institute of Digital Mechatronic Technology, Chinese Culture University, Taipei, Taiwan","institution_ids":["https://openalex.org/I205612303"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5001471820"],"corresponding_institution_ids":["https://openalex.org/I205612303"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.4931,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.81554109,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"11","issue":null,"first_page":"33069","last_page":"33079"},"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9921000003814697,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.8733139038085938},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8237476348876953},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6619420647621155},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6164615154266357},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.6054202318191528},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5871090292930603},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5861251950263977},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.578430712223053},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.523471474647522},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.5021007061004639},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4493529796600342},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.43585532903671265},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3537765443325043},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2205897569656372},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1575937271118164},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15381336212158203}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.8733139038085938},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8237476348876953},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6619420647621155},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6164615154266357},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.6054202318191528},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5871090292930603},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5861251950263977},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.578430712223053},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.523471474647522},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.5021007061004639},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4493529796600342},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.43585532903671265},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3537765443325043},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2205897569656372},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1575937271118164},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15381336212158203},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace 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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/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.2023.3263528","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3263528","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10089414.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":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:f31176a76c40414080cea7c17c6423e6","is_oa":true,"landing_page_url":"https://doaj.org/article/f31176a76c40414080cea7c17c6423e6","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 11, Pp 33069-33079 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3263528","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3263528","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10089414.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4558109309","display_name":null,"funder_award_id":"MOST 111-2221-E-034-005","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"},{"id":"https://openalex.org/G7160539585","display_name":null,"funder_award_id":"Technology","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"}],"funders":[{"id":"https://openalex.org/F4320322795","display_name":"Ministry of Science and Technology, Taiwan","ror":"https://ror.org/02kv4zf79"},{"id":"https://openalex.org/F4320331164","display_name":"National Science and Technology Council","ror":"https://ror.org/00wnb9798"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4361991229.pdf","grobid_xml":"https://content.openalex.org/works/W4361991229.grobid-xml"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1601577086","https://openalex.org/W1941749034","https://openalex.org/W1986045690","https://openalex.org/W2003709017","https://openalex.org/W2040060055","https://openalex.org/W2043151145","https://openalex.org/W2047525345","https://openalex.org/W2051671655","https://openalex.org/W2064215720","https://openalex.org/W2074057033","https://openalex.org/W2079570480","https://openalex.org/W2090167557","https://openalex.org/W2111519493","https://openalex.org/W2137824246","https://openalex.org/W2160209178","https://openalex.org/W2166552785","https://openalex.org/W2171541961","https://openalex.org/W2175091750","https://openalex.org/W2344210503","https://openalex.org/W2469315817","https://openalex.org/W2616613865","https://openalex.org/W2771250673","https://openalex.org/W2792045360","https://openalex.org/W2793774550","https://openalex.org/W2802326896","https://openalex.org/W2803650973","https://openalex.org/W2895824696","https://openalex.org/W2914960106","https://openalex.org/W2917110891","https://openalex.org/W2967525591","https://openalex.org/W2984644331","https://openalex.org/W3015556218","https://openalex.org/W3090252872","https://openalex.org/W3090593662","https://openalex.org/W3097127953","https://openalex.org/W3109738941","https://openalex.org/W3177407338","https://openalex.org/W4225985863","https://openalex.org/W4226553048","https://openalex.org/W4280567962","https://openalex.org/W4285136202","https://openalex.org/W4287022133","https://openalex.org/W4296871656","https://openalex.org/W4312222218","https://openalex.org/W4312644097"],"related_works":["https://openalex.org/W1847613412","https://openalex.org/W4382203996","https://openalex.org/W2108470770","https://openalex.org/W1512021029","https://openalex.org/W1934622834","https://openalex.org/W1972862722","https://openalex.org/W2015036175","https://openalex.org/W2281732014","https://openalex.org/W2063351494","https://openalex.org/W1562326332"],"abstract_inverted_index":{"Robust":[0],"adaptive":[1,21],"tracking":[2,115],"control":[3,23,81],"design":[4,41,61],"for":[5,27,63,86,111],"quadrotors":[6],"with":[7],"unknown":[8,32],"parameters,":[9],"including":[10],"the":[11,14,20,29,37,46,59,65,71,74,78,88,100,114,119,127,134,146],"thrust":[12],"and":[13,39,68,93],"drag":[15],"factors,":[16],"is":[17,25,56,84],"presented.":[18],"Firstly,":[19],"linearizing":[22],"approach":[24],"employed":[26],"conquering":[28],"issues":[30],"of":[31,90,95,129],"input":[33],"gains":[34],"in":[35,58,145],"both":[36],"outer-":[38],"inner-loop":[40],"steps.":[42],"Secondly,":[43],"based":[44,105],"on":[45,133],"barrier":[47],"Lyapunov":[48],"function":[49],"(BLF)":[50],"method,":[51],"a":[52],"robust":[53],"virtual":[54],"controller":[55],"constructed":[57],"intermediate":[60],"step":[62],"counteracting":[64],"coupling":[66],"nonlinearity":[67],"speeding":[69],"up":[70],"convergence":[72],"at":[73],"same":[75],"time.":[76],"Thirdly,":[77],"dynamic":[79],"surface":[80],"(DSC)":[82],"technique":[83],"applied":[85],"alleviating":[87],"measurement":[89],"acceleration":[91],"signals":[92],"explosion":[94],"complexity":[96],"problem":[97],"simultaneously.":[98],"Last,":[99],"serial-parallel":[101],"identification":[102],"model":[103],"(SPIM)":[104],"composite":[106],"update":[107],"algorithms":[108],"are":[109,122,142],"incorporated":[110],"further":[112],"improving":[113],"performance.":[116],"In":[117],"particular,":[118],"prediction":[120],"errors":[121],"ensured":[123],"to":[124,126],"converge":[125],"vicinity":[128],"zero":[130],"without":[131],"relying":[132],"parameter":[135],"convergence.":[136],"Simulation":[137],"studies":[138],"demonstrating":[139],"its":[140],"validity":[141],"carried":[143],"out":[144],"final.":[147]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}
