{"id":"https://openalex.org/W3212700495","doi":"https://doi.org/10.1109/iecon48115.2021.9589155","title":"A Comparative Study of Sliding-Mode-Based Control Strategies of a Quad-Rotor UAV","display_name":"A Comparative Study of Sliding-Mode-Based Control Strategies of a Quad-Rotor UAV","publication_year":2021,"publication_date":"2021-10-13","ids":{"openalex":"https://openalex.org/W3212700495","doi":"https://doi.org/10.1109/iecon48115.2021.9589155","mag":"3212700495"},"language":"en","primary_location":{"id":"doi:10.1109/iecon48115.2021.9589155","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon48115.2021.9589155","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2021 \u2013 47th Annual Conference of the IEEE Industrial Electronics Society","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/A5068364193","display_name":"Enrique Paiva","orcid":"https://orcid.org/0000-0002-6113-0162"},"institutions":[{"id":"https://openalex.org/I8379220","display_name":"Universidad Nacional de Asunci\u00f3n","ror":"https://ror.org/03f27y887","country_code":"PY","type":"education","lineage":["https://openalex.org/I8379220"]}],"countries":["PY"],"is_corresponding":true,"raw_author_name":"E. Paiva","raw_affiliation_strings":["Laboratory of Power and Control Systems, Universidad Nacional de Asunci\u00f3n, Luque, Paraguay"],"affiliations":[{"raw_affiliation_string":"Laboratory of Power and Control Systems, Universidad Nacional de Asunci\u00f3n, Luque, Paraguay","institution_ids":["https://openalex.org/I8379220"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047912212","display_name":"H\u00e9ctor Fretes","orcid":"https://orcid.org/0000-0002-2781-4173"},"institutions":[{"id":"https://openalex.org/I8379220","display_name":"Universidad Nacional de Asunci\u00f3n","ror":"https://ror.org/03f27y887","country_code":"PY","type":"education","lineage":["https://openalex.org/I8379220"]}],"countries":["PY"],"is_corresponding":false,"raw_author_name":"H. Fretes","raw_affiliation_strings":["Laboratory of Power and Control Systems, Universidad Nacional de Asunci\u00f3n, Luque, Paraguay"],"affiliations":[{"raw_affiliation_string":"Laboratory of Power and Control Systems, Universidad Nacional de Asunci\u00f3n, Luque, Paraguay","institution_ids":["https://openalex.org/I8379220"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027929983","display_name":"Jorge Rodas","orcid":"https://orcid.org/0000-0001-9732-704X"},"institutions":[{"id":"https://openalex.org/I8379220","display_name":"Universidad Nacional de Asunci\u00f3n","ror":"https://ror.org/03f27y887","country_code":"PY","type":"education","lineage":["https://openalex.org/I8379220"]}],"countries":["PY"],"is_corresponding":false,"raw_author_name":"J. Rodas","raw_affiliation_strings":["Laboratory of Power and Control Systems, Universidad Nacional de Asunci\u00f3n, Luque, Paraguay"],"affiliations":[{"raw_affiliation_string":"Laboratory of Power and Control Systems, Universidad Nacional de Asunci\u00f3n, Luque, Paraguay","institution_ids":["https://openalex.org/I8379220"]}]},{"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/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":"M. Saad","raw_affiliation_strings":["GR\u00c9PCI Laboratory, \u00c9cole de Technologie Sup\u00e9rieure, Montreal, Canada"],"affiliations":[{"raw_affiliation_string":"GR\u00c9PCI Laboratory, \u00c9cole de Technologie Sup\u00e9rieure, Montreal, Canada","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069387411","display_name":"Yassine Kali","orcid":"https://orcid.org/0000-0001-7887-1584"},"institutions":[{"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":"Y. Kali","raw_affiliation_strings":["GR\u00c9PCI Laboratory, \u00c9cole de Technologie Sup\u00e9rieure, Montreal, Canada"],"affiliations":[{"raw_affiliation_string":"GR\u00c9PCI Laboratory, \u00c9cole de Technologie Sup\u00e9rieure, Montreal, Canada","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012341584","display_name":"Jose Lesme","orcid":null},"institutions":[{"id":"https://openalex.org/I322348216","display_name":"Universidad Cat\u00f3lica Nuestra Se\u00f1ora de la Asunci\u00f3n","ror":"https://ror.org/04jjna482","country_code":"PY","type":"education","lineage":["https://openalex.org/I322348216"]}],"countries":["PY"],"is_corresponding":false,"raw_author_name":"J.L. Lesme","raw_affiliation_strings":["Unidad Pedag\u00f3gica de Caacup\u00e9, Universidad Cat\u00f3lica, Caacup\u00e9, Paraguay"],"affiliations":[{"raw_affiliation_string":"Unidad Pedag\u00f3gica de Caacup\u00e9, Universidad Cat\u00f3lica, Caacup\u00e9, Paraguay","institution_ids":["https://openalex.org/I322348216"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053649852","display_name":"Fernando Lesme","orcid":null},"institutions":[{"id":"https://openalex.org/I322348216","display_name":"Universidad Cat\u00f3lica Nuestra Se\u00f1ora de la Asunci\u00f3n","ror":"https://ror.org/04jjna482","country_code":"PY","type":"education","lineage":["https://openalex.org/I322348216"]}],"countries":["PY"],"is_corresponding":false,"raw_author_name":"F. Lesme","raw_affiliation_strings":["Unidad Pedag\u00f3gica de Caacup\u00e9, Universidad Cat\u00f3lica, Caacup\u00e9, Paraguay"],"affiliations":[{"raw_affiliation_string":"Unidad Pedag\u00f3gica de Caacup\u00e9, Universidad Cat\u00f3lica, Caacup\u00e9, Paraguay","institution_ids":["https://openalex.org/I322348216"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5068364193"],"corresponding_institution_ids":["https://openalex.org/I8379220"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16604324,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9995999932289124,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/waypoint","display_name":"Waypoint","score":0.8260037899017334},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7795864343643188},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6414133310317993},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5886880159378052},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.5580861568450928},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5512241125106812},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.508845329284668},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48670223355293274},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.4428706169128418},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4265308380126953},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4178353250026703},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4116798937320709},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39465540647506714},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24827316403388977},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.17749318480491638},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1471702754497528},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12341132760047913},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.08588483929634094},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07334494590759277}],"concepts":[{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.8260037899017334},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7795864343643188},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6414133310317993},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5886880159378052},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.5580861568450928},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5512241125106812},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.508845329284668},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48670223355293274},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.4428706169128418},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4265308380126953},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4178353250026703},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4116798937320709},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39465540647506714},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24827316403388977},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.17749318480491638},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1471702754497528},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12341132760047913},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.08588483929634094},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07334494590759277},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iecon48115.2021.9589155","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon48115.2021.9589155","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2021 \u2013 47th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"},{"id":"pmh:oai:espace2.etsmtl.ca:23704","is_oa":false,"landing_page_url":"https://espace2.etsmtl.ca/id/eprint/23704/","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":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1496352782","https://openalex.org/W2018309094","https://openalex.org/W2037933494","https://openalex.org/W2104797388","https://openalex.org/W2123175689","https://openalex.org/W2134790752","https://openalex.org/W2153631760","https://openalex.org/W2165314520","https://openalex.org/W2514669724","https://openalex.org/W2741203571","https://openalex.org/W2755466181","https://openalex.org/W2791119367","https://openalex.org/W2890933797","https://openalex.org/W2899017972","https://openalex.org/W2906964648","https://openalex.org/W2967611764","https://openalex.org/W3008955170","https://openalex.org/W3027048960","https://openalex.org/W3045522166","https://openalex.org/W3049215337","https://openalex.org/W3049304456","https://openalex.org/W3080166944","https://openalex.org/W3086447993","https://openalex.org/W3092024884","https://openalex.org/W3113898958","https://openalex.org/W3126855233","https://openalex.org/W3127861134","https://openalex.org/W3128868344","https://openalex.org/W3157032081","https://openalex.org/W4252841157","https://openalex.org/W6754039116","https://openalex.org/W6774130128"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2688471429","https://openalex.org/W4360939124","https://openalex.org/W2077345734","https://openalex.org/W2899287767","https://openalex.org/W2275928629","https://openalex.org/W1978127373","https://openalex.org/W2915444871","https://openalex.org/W2612848489","https://openalex.org/W3138430576"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"three":[3],"sliding-mode-based":[4],"control":[5,81],"techniques":[6],"for":[7,13,58],"position":[8],"and":[9,26,44],"attitude":[10],"tracking":[11,24,46,63],"trajectory":[12],"a":[14,41,84],"quad-rotor":[15],"unmanned":[16],"aerial":[17],"vehicle":[18],"(UAV)":[19],"are":[20,56],"evaluated":[21],"regarding":[22],"the":[23,27,30,80,88],"performance":[25],"chattering":[28,89],"in":[29,87],"motors\u2019":[31],"speed.":[32],"The":[33,49,73],"evaluation":[34],"is":[35],"made":[36],"through":[37],"numerical":[38],"simulations":[39],"of":[40],"stationary":[42],"flight":[43],"waypoint":[45],"with":[47,61,69,83],"disturbances.":[48],"results":[50],"show":[51],"that":[52],"Sliding":[53],"Mode":[54],"controllers":[55,68],"suitable":[57],"UAV":[59],"applications,":[60],"high":[62],"performance,":[64],"particularly":[65],"sliding":[66],"mode":[67],"exponential":[70],"reaching":[71],"law.":[72],"modified":[74],"super":[75],"twisting":[76],"algorithm":[77],"can":[78],"achieve":[79],"objectives":[82],"notable":[85],"reduction":[86],"effect.":[90]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}