{"id":"https://openalex.org/W2887581072","doi":"https://doi.org/10.1109/civemsa.2018.8440003","title":"Sliding Mode Controller and Hierarchical Perturbation Compensator in a UAV Quadrotor","display_name":"Sliding Mode Controller and Hierarchical Perturbation Compensator in a UAV Quadrotor","publication_year":2018,"publication_date":"2018-06-01","ids":{"openalex":"https://openalex.org/W2887581072","doi":"https://doi.org/10.1109/civemsa.2018.8440003","mag":"2887581072"},"language":"en","primary_location":{"id":"doi:10.1109/civemsa.2018.8440003","is_oa":false,"landing_page_url":"https://doi.org/10.1109/civemsa.2018.8440003","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications (CIVEMSA)","raw_type":"proceedings-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/A5082160203","display_name":"Walid Alqaisi","orcid":"https://orcid.org/0000-0002-6094-288X"},"institutions":[{"id":"https://openalex.org/I159129438","display_name":"Universit\u00e9 du Qu\u00e9bec \u00e0 Montr\u00e9al","ror":"https://ror.org/002rjbv21","country_code":"CA","type":"education","lineage":["https://openalex.org/I159129438","https://openalex.org/I49663120"]},{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Walid Alqaisi","raw_affiliation_strings":["ETS, University of Quebec, Montreal, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETS, University of Quebec, Montreal, Canada","institution_ids":["https://openalex.org/I9736820","https://openalex.org/I159129438"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075850299","display_name":"Brahim Brahmi","orcid":"https://orcid.org/0000-0002-4486-0710"},"institutions":[{"id":"https://openalex.org/I159129438","display_name":"Universit\u00e9 du Qu\u00e9bec \u00e0 Montr\u00e9al","ror":"https://ror.org/002rjbv21","country_code":"CA","type":"education","lineage":["https://openalex.org/I159129438","https://openalex.org/I49663120"]},{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Brahim Brahmi","raw_affiliation_strings":["ETS, University of Quebec, Montreal, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETS, University of Quebec, Montreal, Canada","institution_ids":["https://openalex.org/I9736820","https://openalex.org/I159129438"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082996333","display_name":"Jawhar Ghommam","orcid":"https://orcid.org/0000-0002-8289-6124"},"institutions":[{"id":"https://openalex.org/I142899784","display_name":"University of Sfax","ror":"https://ror.org/04d4sd432","country_code":"TN","type":"education","lineage":["https://openalex.org/I142899784"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Jawhar Ghommam","raw_affiliation_strings":["Engineering School of Sfax, Tunisia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering School of Sfax, Tunisia","institution_ids":["https://openalex.org/I142899784"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063495088","display_name":"Maarouf Saad","orcid":"https://orcid.org/0000-0003-2547-2509"},"institutions":[{"id":"https://openalex.org/I159129438","display_name":"Universit\u00e9 du Qu\u00e9bec \u00e0 Montr\u00e9al","ror":"https://ror.org/002rjbv21","country_code":"CA","type":"education","lineage":["https://openalex.org/I159129438","https://openalex.org/I49663120"]},{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Maarouf Saad","raw_affiliation_strings":["ETS, University of Quebec, Montreal, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETS, University of Quebec, Montreal, Canada","institution_ids":["https://openalex.org/I9736820","https://openalex.org/I159129438"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000121630","display_name":"Vah\u00e9 Nerguizian","orcid":"https://orcid.org/0000-0002-0885-5113"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vahe Nerguizian","raw_affiliation_strings":["Universite du Quebec, Quebec, QC, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universite du Quebec, Quebec, QC, CA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5082160203"],"corresponding_institution_ids":["https://openalex.org/I159129438","https://openalex.org/I9736820"],"apc_list":null,"apc_paid":null,"fwci":0.1873,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.50061609,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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":0.9984999895095825,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.8583518266677856},{"id":"https://openalex.org/keywords/perturbation","display_name":"Perturbation (astronomy)","score":0.7960084676742554},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6140979528427124},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5682010054588318},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4034360349178314},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2598683834075928},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13425761461257935},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12392514944076538},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0907348096370697}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8583518266677856},{"id":"https://openalex.org/C177918212","wikidata":"https://www.wikidata.org/wiki/Q803623","display_name":"Perturbation (astronomy)","level":2,"score":0.7960084676742554},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6140979528427124},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5682010054588318},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4034360349178314},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2598683834075928},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13425761461257935},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12392514944076538},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0907348096370697},{"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/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/civemsa.2018.8440003","is_oa":false,"landing_page_url":"https://doi.org/10.1109/civemsa.2018.8440003","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications (CIVEMSA)","raw_type":"proceedings-article"},{"id":"pmh:oai:espace2.etsmtl.ca:17436","is_oa":false,"landing_page_url":"http://espace2.etsmtl.ca/id/eprint/17436/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402392","display_name":"Espace \u00c9TS (ETS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1341030882","host_organization_name":"Educational Testing Service","host_organization_lineage":["https://openalex.org/I1341030882"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Compte rendu de conf\u00e9rence"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8500000238418579,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W40923965","https://openalex.org/W204815387","https://openalex.org/W1514580951","https://openalex.org/W1537931122","https://openalex.org/W1554652773","https://openalex.org/W1571557722","https://openalex.org/W1982663993","https://openalex.org/W2021435432","https://openalex.org/W2081334268","https://openalex.org/W2091382785","https://openalex.org/W2095580478","https://openalex.org/W2098536261","https://openalex.org/W2109337728","https://openalex.org/W2122123060","https://openalex.org/W2129979291","https://openalex.org/W2253813951","https://openalex.org/W2291623206","https://openalex.org/W2312677077","https://openalex.org/W2327553808","https://openalex.org/W2333681581","https://openalex.org/W2340163488","https://openalex.org/W2952202329","https://openalex.org/W4301958477","https://openalex.org/W6631956458","https://openalex.org/W6701645922"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W1979758163","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2294490033","https://openalex.org/W2478288626","https://openalex.org/W4391913857"],"abstract_inverted_index":{"The":[0,123],"commercial":[1],"small":[2,17],"Unmanned":[3],"Aerial":[4],"Vehicle":[5],"(UAV)":[6],"quadrotor":[7,44],"is":[8,94,117],"very":[9],"sensitive":[10],"to":[11,14,60,70],"perturbation":[12,74,82],"due":[13],"its":[15],"relatively":[16],"size":[18],"and":[19,35,49,54,86,104,121],"because":[20],"of":[21,47,80,99],"being":[22],"an":[23],"under-actuated":[24],"system.":[25,62],"In":[26,88],"general,":[27],"some":[28,81],"non-modeled":[29],"parameters,":[30],"wind":[31],"disturbance,":[32],"sensor":[33],"noise":[34],"miscellaneous":[36],"uncertainties":[37,59],"cannot":[38],"be":[39,67],"easily":[40],"quantified":[41],"in":[42],"UAV":[43],"systems.":[45],"Changes":[46],"mass":[48],"inertia":[50],"parameters":[51],"for":[52,84],"pick":[53],"place":[55],"operations":[56],"add":[57],"more":[58],"the":[61,78,91],"Traditional":[63],"controllers":[64],"might":[65],"not":[66],"robust":[68],"enough":[69],"handle":[71],"all":[72],"aforementioned":[73],"types.":[75],"This":[76],"arises":[77],"need":[79],"compensation":[83,112],"guidance":[85],"stability.":[87],"this":[89,111],"article,":[90],"complete":[92],"system":[93],"synthesized":[95],"as":[96],"a":[97,105],"combination":[98],"Hierarchical":[100],"Perturbation":[101],"Compensator":[102],"(HPC)":[103],"Sliding":[106],"Mode":[107],"Controller":[108],"(SMC).":[109],"With":[110],"system,":[113],"better":[114],"tracking":[115],"performance":[116,128],"demonstrated":[118],"through":[119],"analysis":[120],"simulation.":[122],"simulation":[124],"response":[125],"shows":[126],"enhanced":[127],"compared":[129],"with":[130],"other":[131],"conventional":[132],"methods.":[133]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2026-05-08T13:12:06.581006","created_date":"2025-10-10T00:00:00"}