{"id":"https://openalex.org/W3198647077","doi":"https://doi.org/10.1109/rcar52367.2021.9517334","title":"Observer-based Second Order Sliding Mode Control for Tethered Quadrotor Transportation","display_name":"Observer-based Second Order Sliding Mode Control for Tethered Quadrotor Transportation","publication_year":2021,"publication_date":"2021-07-15","ids":{"openalex":"https://openalex.org/W3198647077","doi":"https://doi.org/10.1109/rcar52367.2021.9517334","mag":"3198647077"},"language":"en","primary_location":{"id":"doi:10.1109/rcar52367.2021.9517334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517334","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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/A5040381540","display_name":"Jiale Gao","orcid":"https://orcid.org/0009-0000-6369-1273"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]},{"id":"https://openalex.org/I4210166468","display_name":"Beijing Aerospace Flight Control Center","ror":"https://ror.org/007a14354","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210166468"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiale Gao","raw_affiliation_strings":["National Key Laboratory of Aerospace Flight Dynamics, China","Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, Shaanxi, China"],"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Aerospace Flight Dynamics, China","institution_ids":["https://openalex.org/I4210166468"]},{"raw_affiliation_string":"Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100403565","display_name":"Fan Zhang","orcid":"https://orcid.org/0000-0003-2802-586X"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]},{"id":"https://openalex.org/I4210166468","display_name":"Beijing Aerospace Flight Control Center","ror":"https://ror.org/007a14354","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210166468"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fan Zhang","raw_affiliation_strings":["National Key Laboratory of Aerospace Flight Dynamics, China","Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, Shaanxi, China"],"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Aerospace Flight Dynamics, China","institution_ids":["https://openalex.org/I4210166468"]},{"raw_affiliation_string":"Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091127758","display_name":"Panfeng Huang","orcid":"https://orcid.org/0000-0002-5132-9602"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]},{"id":"https://openalex.org/I4210166468","display_name":"Beijing Aerospace Flight Control Center","ror":"https://ror.org/007a14354","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210166468"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Panfeng Huang","raw_affiliation_strings":["National Key Laboratory of Aerospace Flight Dynamics, China","Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, Shaanxi, China"],"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Aerospace Flight Dynamics, China","institution_ids":["https://openalex.org/I4210166468"]},{"raw_affiliation_string":"Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100459736","display_name":"Ya Liu","orcid":"https://orcid.org/0000-0002-3057-6903"},"institutions":[{"id":"https://openalex.org/I4210166468","display_name":"Beijing Aerospace Flight Control Center","ror":"https://ror.org/007a14354","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210166468"]},{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ya Liu","raw_affiliation_strings":["National Key Laboratory of Aerospace Flight Dynamics, China","Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, Shaanxi, China"],"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Aerospace Flight Dynamics, China","institution_ids":["https://openalex.org/I4210166468"]},{"raw_affiliation_string":"Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5040381540"],"corresponding_institution_ids":["https://openalex.org/I17145004","https://openalex.org/I4210166468"],"apc_list":null,"apc_paid":null,"fwci":0.412,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.61136575,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1335","last_page":"1342"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"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":0.9994999766349792,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9941999912261963,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8705524206161499},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7349371910095215},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6287409067153931},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6176671385765076},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5635831952095032},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5176296830177307},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.5013294219970703},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4844079613685608},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.45478805899620056},{"id":"https://openalex.org/keywords/inner-loop","display_name":"Inner loop","score":0.44579389691352844},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.4438040554523468},{"id":"https://openalex.org/keywords/euler-angles","display_name":"Euler angles","score":0.4332996606826782},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.42450636625289917},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4213413894176483},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3814731538295746},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3244665861129761},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2807467579841614},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.25194597244262695},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24166271090507507},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21696287393569946},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11781606078147888},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.11137932538986206},{"id":"https://openalex.org/keywords/network-packet","display_name":"Network packet","score":0.09101051092147827},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08422967791557312}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8705524206161499},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7349371910095215},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6287409067153931},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6176671385765076},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5635831952095032},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5176296830177307},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.5013294219970703},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4844079613685608},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.45478805899620056},{"id":"https://openalex.org/C58716799","wikidata":"https://www.wikidata.org/wiki/Q6035648","display_name":"Inner loop","level":3,"score":0.44579389691352844},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.4438040554523468},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.4332996606826782},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.42450636625289917},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4213413894176483},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3814731538295746},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3244665861129761},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2807467579841614},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.25194597244262695},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24166271090507507},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21696287393569946},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11781606078147888},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.11137932538986206},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.09101051092147827},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08422967791557312},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar52367.2021.9517334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517334","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6708928572","display_name":null,"funder_award_id":"91848205,61725303,61803313","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1493804362","https://openalex.org/W1631467214","https://openalex.org/W2003688959","https://openalex.org/W2048653585","https://openalex.org/W2110822330","https://openalex.org/W2163198877","https://openalex.org/W2411370636","https://openalex.org/W2528331623","https://openalex.org/W2547045721","https://openalex.org/W2572201936","https://openalex.org/W2758249820","https://openalex.org/W2905668437","https://openalex.org/W3006536688","https://openalex.org/W3042973648","https://openalex.org/W3048514973","https://openalex.org/W6676690809"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W3135136999","https://openalex.org/W2086775453"],"abstract_inverted_index":{"Quadrotor":[0],"has":[1],"been":[2],"widely":[3],"applied":[4],"on":[5,51,80,131],"tethered":[6,37,68],"transportation":[7],"due":[8,31],"to":[9,29,32],"its":[10],"advantages":[11],"of":[12,74,125,144],"safety,":[13],"low":[14],"cost,":[15],"easy":[16],"operation":[17],"and":[18,36,84,93,101,111,155],"high":[19],"mobility.":[20],"However,":[21],"a":[22,46,55],"precise":[23],"trajectory":[24],"tracking":[25],"control":[26],"is":[27,45,65,89,134,149],"hard":[28],"achieve":[30],"the":[33,41,52,75,106,115,126,138,145],"long":[34],"tether":[35],"payload,":[38],"specially":[39],"during":[40],"maneuvering":[42],"motion,":[43],"which":[44,105],"classical":[47],"underactuated":[48],"system.":[49],"Based":[50],"above":[53],"questions,":[54],"new":[56],"double-loops":[57],"observer-based":[58],"second":[59,117],"order":[60,118],"sliding":[61,119],"mode":[62,120],"control(OBSOSMC)":[63],"scheme":[64,148],"proposed":[66,132,146],"for":[67],"quadrotor":[69,76],"transportation.":[70],"The":[71,87,122,142],"dynamics":[72],"equation":[73],"was":[77],"established":[78],"based":[79,130],"Newton's":[81],"Second":[82],"Law":[83],"Euler-Lagrange":[85],"mechanic.":[86],"payload":[88],"regarded":[90],"as":[91],"disturbance,":[92],"observers":[94],"are":[95],"designed":[96,116],"in":[97,114,157],"both":[98],"position":[99],"loop":[100,103,128],"attitude":[102],"under":[104],"disturbance":[107],"can":[108],"be":[109],"precisely":[110],"directly":[112],"compensated":[113],"control(SOSMC).":[121],"asymptotic":[123],"stability":[124,140],"closed":[127],"system":[129],"OBSOSMC":[133,147],"theoretically":[135],"proved":[136,150],"by":[137,151],"Lyapunov":[139],"method.":[141],"effectiveness":[143],"comparing":[152],"Classical":[153],"PID":[154],"SOSMC":[156],"two":[158],"different":[159],"practical":[160],"experiments.":[161]},"counts_by_year":[{"year":2024,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
