{"id":"https://openalex.org/W2774616673","doi":"https://doi.org/10.1109/smc.2017.8123133","title":"Robust finite-time stabilization of quadrotor with inertia uncertainty and disturbance","display_name":"Robust finite-time stabilization of quadrotor with inertia uncertainty and disturbance","publication_year":2017,"publication_date":"2017-10-01","ids":{"openalex":"https://openalex.org/W2774616673","doi":"https://doi.org/10.1109/smc.2017.8123133","mag":"2774616673"},"language":"en","primary_location":{"id":"doi:10.1109/smc.2017.8123133","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2017.8123133","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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/A5100339998","display_name":"Hui Wang","orcid":"https://orcid.org/0000-0001-5541-4110"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hui Wang","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003943487","display_name":"Lixian Zhang","orcid":"https://orcid.org/0000-0002-7948-6052"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lixian Zhang","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049985472","display_name":"Junnan Shen","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junnan Shen","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037956554","display_name":"Fei Yang","orcid":"https://orcid.org/0000-0002-4342-2196"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Fei","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100339998"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.20778762,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"21","issue":null,"first_page":"3272","last_page":"3277"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9954000115394592,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9891999959945679,"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":0.8710371255874634},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.6770220994949341},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.6708414554595947},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.6268273591995239},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5526137351989746},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.50174880027771},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.500840425491333},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4905025362968445},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.47205477952957153},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4694385528564453},{"id":"https://openalex.org/keywords/terminal-sliding-mode","display_name":"Terminal sliding mode","score":0.4268679618835449},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.41006168723106384},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36402037739753723},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.33045199513435364},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3125300407409668},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3064984679222107},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30025386810302734},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18765956163406372},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10861930251121521},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08247548341751099},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07637473940849304}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8710371255874634},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.6770220994949341},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.6708414554595947},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.6268273591995239},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5526137351989746},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.50174880027771},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.500840425491333},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4905025362968445},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.47205477952957153},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4694385528564453},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.4268679618835449},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.41006168723106384},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36402037739753723},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.33045199513435364},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3125300407409668},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3064984679222107},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30025386810302734},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18765956163406372},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10861930251121521},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08247548341751099},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07637473940849304},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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/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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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":1,"locations":[{"id":"doi:10.1109/smc.2017.8123133","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2017.8123133","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.5,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1829638099","https://openalex.org/W1973734421","https://openalex.org/W1993917498","https://openalex.org/W2000201135","https://openalex.org/W2051335294","https://openalex.org/W2060808285","https://openalex.org/W2077442868","https://openalex.org/W2091382785","https://openalex.org/W2098686464","https://openalex.org/W2139799964","https://openalex.org/W2207063462","https://openalex.org/W2465465239","https://openalex.org/W3175465132","https://openalex.org/W7008272202"],"related_works":["https://openalex.org/W2356356101","https://openalex.org/W2109651492","https://openalex.org/W2108072532","https://openalex.org/W2380965978","https://openalex.org/W2131481667","https://openalex.org/W2016095328","https://openalex.org/W2404840993","https://openalex.org/W1995636945","https://openalex.org/W4214925198","https://openalex.org/W1788310316"],"abstract_inverted_index":{"The":[0,18],"paper":[1],"is":[2,52,99,129],"concerned":[3],"with":[4,113],"the":[5,40,56,62,75,83,90,133],"robust":[6,48,104],"finite-time":[7,49,110],"stabilization":[8,20],"problem":[9,21],"of":[10,23,33,58,89,115],"quadrotors":[11],"subject":[12],"to":[13,108,131],"inertia":[14,117],"uncertainty":[15],"and":[16,29,118],"disturbances.":[17],"underlying":[19],"consists":[22],"controller":[24,51],"designs":[25],"for":[26,77,87],"position":[27,50,63],"loop":[28,65,92],"attitude":[30,85,91,96,111],"loop,":[31],"both":[32],"which":[34],"are":[35,93],"carried":[36],"out":[37],"based":[38],"on":[39],"terminal":[41],"sliding":[42],"mode":[43],"control":[44,64,98,106,135],"approach.":[45],"First,":[46],"a":[47,73],"designed":[53],"by":[54,101,121],"considering":[55],"bound":[57],"disturbances":[59,119],"such":[60],"that":[61],"can":[66],"be":[67],"stabilized":[68],"in":[69],"finite":[70],"time.":[71],"As":[72],"consequence,":[74],"thrust":[76],"altitude":[78],"stabilization,":[79],"as":[80,82],"well":[81],"desired":[84],"angles":[86],"tracking":[88,97,112],"determined.":[94],"Then,":[95],"realized":[100],"further":[102],"combining":[103],"adaptive":[105],"strategy":[107],"achieve":[109],"nonlinearities":[114],"uncertain":[116],"tackled":[120],"an":[122],"introduced":[123],"adaption":[124],"term.":[125],"A":[126],"numerical":[127],"example":[128],"presented":[130],"verify":[132],"proposed":[134],"scheme.":[136]},"counts_by_year":[{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
