{"id":"https://openalex.org/W4409311191","doi":"https://doi.org/10.1109/access.2025.3559180","title":"A Robust Finite-Time Fault-Tolerant Tracking Control for Quadrotor Attitude System With Stochastic Actuator Faults and Input Delays","display_name":"A Robust Finite-Time Fault-Tolerant Tracking Control for Quadrotor Attitude System With Stochastic Actuator Faults and Input Delays","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4409311191","doi":"https://doi.org/10.1109/access.2025.3559180"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3559180","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3559180","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":"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://doi.org/10.1109/access.2025.3559180","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113399887","display_name":"V.T. Mai","orcid":null},"institutions":[{"id":"https://openalex.org/I4210134642","display_name":"Lac Hong University","ror":"https://ror.org/03nypmk85","country_code":"VN","type":"education","lineage":["https://openalex.org/I4210134642"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"V. T. Mai","raw_affiliation_strings":["Faculty of Engineering, Dong Nai Technology University, Bien Hoa City, Vietnam"],"raw_orcid":"https://orcid.org/0009-0000-1448-8236","affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Dong Nai Technology University, Bien Hoa City, Vietnam","institution_ids":["https://openalex.org/I4210134642"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053157199","display_name":"Farzaneh Jani","orcid":"https://orcid.org/0000-0002-7104-9288"},"institutions":[{"id":"https://openalex.org/I103703290","display_name":"Sakarya University","ror":"https://ror.org/04ttnw109","country_code":"TR","type":"education","lineage":["https://openalex.org/I103703290"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Farzaneh Jani","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, Faculty of Engineering, Sakarya University, Sakarya, T&#x00FC;rkiye"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, Faculty of Engineering, Sakarya University, Sakarya, T&#x00FC;rkiye","institution_ids":["https://openalex.org/I103703290"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071113451","display_name":"Khalid A. Alattas","orcid":"https://orcid.org/0000-0001-6528-3636"},"institutions":[{"id":"https://openalex.org/I4210099699","display_name":"University of Jeddah","ror":"https://ror.org/015ya8798","country_code":"SA","type":"education","lineage":["https://openalex.org/I4210099699"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Khalid A. Alattas","raw_affiliation_strings":["Department of Computer Science and Artificial Intelligence, College of Computer Science and Engineering, University of Jeddah, Jeddah, Saudi Arabia","Department of Computer Science and Artificial Intelligence, University of Jeddah, Hamzah Ibn Al Qasim St, Al Sharafeyah, Jeddah, Saudi Arabia"],"raw_orcid":"https://orcid.org/0000-0001-6528-3636","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Artificial Intelligence, College of Computer Science and Engineering, University of Jeddah, Jeddah, Saudi Arabia","institution_ids":["https://openalex.org/I4210099699"]},{"raw_affiliation_string":"Department of Computer Science and Artificial Intelligence, University of Jeddah, Hamzah Ibn Al Qasim St, Al Sharafeyah, Jeddah, Saudi Arabia","institution_ids":["https://openalex.org/I4210099699"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054736537","display_name":"Ebrahim Ghaderpour","orcid":"https://orcid.org/0000-0002-5165-1773"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ebrahim Ghaderpour","raw_affiliation_strings":["Department of Earth Sciences, Sapienza University of Rome, Rome, Italy","Department of Earth Sciences, Sapienza University of Rome, Piazzale Aldo-Moro, 5, Rome, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5165-1773","affiliations":[{"raw_affiliation_string":"Department of Earth Sciences, Sapienza University of Rome, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Department of Earth Sciences, Sapienza University of Rome, Piazzale Aldo-Moro, 5, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089657515","display_name":"Ardashir Mohammadzadeh","orcid":"https://orcid.org/0000-0001-5173-4563"},"institutions":[{"id":"https://openalex.org/I103703290","display_name":"Sakarya University","ror":"https://ror.org/04ttnw109","country_code":"TR","type":"education","lineage":["https://openalex.org/I103703290"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Ardashir Mohammadzadeh","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, Faculty of Engineering, Sakarya University, Sakarya, T&#x00FC;rkiye"],"raw_orcid":"https://orcid.org/0000-0001-5173-4563","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, Faculty of Engineering, Sakarya University, Sakarya, T&#x00FC;rkiye","institution_ids":["https://openalex.org/I103703290"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":11.3692,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.9866945,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"13","issue":null,"first_page":"64627","last_page":"64637"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9984999895095825,"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":0.9984999895095825,"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":0.9916999936103821,"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":0.9833999872207642,"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/actuator","display_name":"Actuator","score":0.8125819563865662},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.802169144153595},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.630433201789856},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.6282254457473755},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6281810998916626},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.6132810711860657},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4586280882358551},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.450560063123703},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.4376167058944702},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4250532388687134},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4201090633869171},{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.4110206067562103},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1796959638595581},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1313951015472412},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.12342745065689087}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8125819563865662},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.802169144153595},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.630433201789856},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.6282254457473755},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6281810998916626},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.6132810711860657},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4586280882358551},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.450560063123703},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.4376167058944702},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4250532388687134},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4201090633869171},{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.4110206067562103},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1796959638595581},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1313951015472412},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.12342745065689087},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3559180","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3559180","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":"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:d032a4155fd2470b9a27eaf8ecf06b9b","is_oa":true,"landing_page_url":"https://doaj.org/article/d032a4155fd2470b9a27eaf8ecf06b9b","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 13, Pp 64627-64637 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3559180","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3559180","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":"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":[{"score":0.6299999952316284,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W2016562720","https://openalex.org/W2203854214","https://openalex.org/W2605589909","https://openalex.org/W2805902901","https://openalex.org/W2807031941","https://openalex.org/W2884008507","https://openalex.org/W2919216108","https://openalex.org/W2940756911","https://openalex.org/W3003712617","https://openalex.org/W3015568206","https://openalex.org/W3035732476","https://openalex.org/W3133825289","https://openalex.org/W3196177771","https://openalex.org/W4200132086","https://openalex.org/W4205229647","https://openalex.org/W4205248163","https://openalex.org/W4206941219","https://openalex.org/W4210573062","https://openalex.org/W4214826651","https://openalex.org/W4226059365","https://openalex.org/W4292566775","https://openalex.org/W4293531472","https://openalex.org/W4296526140","https://openalex.org/W4300970305","https://openalex.org/W4307444729","https://openalex.org/W4313334549","https://openalex.org/W4313476476","https://openalex.org/W4321017734","https://openalex.org/W4321379028","https://openalex.org/W4378550018","https://openalex.org/W4385656693","https://openalex.org/W4385877737","https://openalex.org/W4385900995","https://openalex.org/W4387744525","https://openalex.org/W4393218579","https://openalex.org/W4400905275"],"related_works":["https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2011222276","https://openalex.org/W2080330449","https://openalex.org/W2007221537","https://openalex.org/W2490690736","https://openalex.org/W785766289","https://openalex.org/W2185997459","https://openalex.org/W2126730235","https://openalex.org/W1963589636"],"abstract_inverted_index":{"Quadrotor":[0],"unmanned":[1],"aerial":[2],"vehicles":[3],"have":[4],"become":[5],"very":[6,22],"popular":[7],"for":[8],"doing":[9],"numerous":[10],"tasks;":[11],"however,":[12],"due":[13],"to":[14,24,40,87,126,160,186],"their":[15],"small":[16],"size":[17],"and":[18,27,60,143,167,177,191],"weight,":[19],"they":[20],"are":[21,71,85],"sensitive":[23],"parameter":[25,58],"uncertainties":[26],"external":[28,62,165],"disturbances.":[29,63],"In":[30],"this":[31],"paper,":[32],"a":[33,46,96,127,131,161],"new":[34],"robust":[35],"fault-tolerant":[36],"approach":[37,190],"is":[38,136,152,158],"introduced":[39],"track":[41],"the":[42,65,74,79,93,100,105,111,121,139,144,155,164,175,180,187,192],"attitude":[43,106],"trajectory":[44],"of":[45,67,95,104,179],"quadrotor":[47,162],"in":[48,73],"finite":[49],"time":[50,133],"that":[51,98,120],"suffers":[52],"from":[53],"stochastic":[54,168],"actuator":[55,169],"faults,":[56],"system":[57,109],"uncertainties,":[59],"unknown":[61],"Furthermore,":[64],"effects":[66],"time-varying":[68],"input":[69],"delay":[70],"considered":[72],"control":[75,182],"input.":[76],"Based":[77],"on":[78],"Lyapunov-Krasovskii":[80],"functional":[81],"approach,":[82],"two":[83],"theorems":[84],"given":[86],"derive":[88],"some":[89],"delay-dependent":[90],"conditions":[91],"regarding":[92],"design":[94],"controller":[97],"guarantees":[99],"finite-time":[101,193],"contractive":[102],"stability":[103,189,195],"tracking":[107,122],"error":[108,123],"with":[110],"prescribed":[112],"H<sub":[113,146],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[114,147],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u221e</sub>":[115,148],"performance":[116],"index.":[117],"This":[118],"means":[119],"states":[124],"converge":[125],"defined":[128],"bound":[129],"within":[130],"fixed":[132],"interval":[134],"which":[135],"smaller":[137],"than":[138],"initial":[140],"state":[141],"bound,":[142],"acceptable":[145],"disturbance":[149,166],"attenuation":[150],"level":[151],"achieved.":[153],"Finally,":[154],"proposed":[156,181],"method":[157],"applied":[159],"facing":[163],"fault.":[170],"The":[171],"simulation":[172],"results":[173],"verify":[174],"effectiveness":[176],"superiority":[178],"scheme":[183],"as":[184],"compared":[185],"asymptotic":[188],"boundedness":[194],"model.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":7}],"updated_date":"2026-06-18T10:00:31.954636","created_date":"2025-04-10T00:00:00"}