{"id":"https://openalex.org/W3189926634","doi":"https://doi.org/10.1109/taes.2021.3101562","title":"Appointed Fixed Time Observer-Based Sliding Mode Control for a Quadrotor UAV Under External Disturbances","display_name":"Appointed Fixed Time Observer-Based Sliding Mode Control for a Quadrotor UAV Under External Disturbances","publication_year":2021,"publication_date":"2021-08-09","ids":{"openalex":"https://openalex.org/W3189926634","doi":"https://doi.org/10.1109/taes.2021.3101562","mag":"3189926634"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2021.3101562","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2021.3101562","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"is_oa":false,"is_in_doaj":false,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Aerospace and Electronic Systems","raw_type":"journal-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/A5100773871","display_name":"Bo Li","orcid":"https://orcid.org/0000-0001-9832-369X"},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Li","raw_affiliation_strings":["Shanghai Maritime University, Shanghai, China","[Institute of Logistics Science and Engineering, Shanghai Maritime University, Shanghai, China, 201306 (e-mail: keepuself@gmail.com)]"],"raw_orcid":"https://orcid.org/0000-0001-9832-369X","affiliations":[{"raw_affiliation_string":"Shanghai Maritime University, Shanghai, China","institution_ids":["https://openalex.org/I96733725"]},{"raw_affiliation_string":"[Institute of Logistics Science and Engineering, Shanghai Maritime University, Shanghai, China, 201306 (e-mail: keepuself@gmail.com)]","institution_ids":["https://openalex.org/I96733725"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090867766","display_name":"Wenquan Gong","orcid":"https://orcid.org/0000-0001-5450-5790"},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenquan Gong","raw_affiliation_strings":["Shanghai Maritime University, Shanghai, China","[Shanghai Maritime University, Shanghai, China, 201306 (e-mail: wqgong902@gmail.com)]"],"raw_orcid":"https://orcid.org/0000-0001-5450-5790","affiliations":[{"raw_affiliation_string":"Shanghai Maritime University, Shanghai, China","institution_ids":["https://openalex.org/I96733725"]},{"raw_affiliation_string":"[Shanghai Maritime University, Shanghai, China, 201306 (e-mail: wqgong902@gmail.com)]","institution_ids":["https://openalex.org/I96733725"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100606351","display_name":"Yongsheng Yang","orcid":"https://orcid.org/0000-0002-8992-8045"},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongsheng Yang","raw_affiliation_strings":["Shanghai Maritime University, Shanghai, China","[Shanghai Maritime University, Shanghai, China, 201306 (e-mail: yangys@shmtu.edu.cn)]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Maritime University, Shanghai, China","institution_ids":["https://openalex.org/I96733725"]},{"raw_affiliation_string":"[Shanghai Maritime University, Shanghai, China, 201306 (e-mail: yangys@shmtu.edu.cn)]","institution_ids":["https://openalex.org/I96733725"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005847333","display_name":"Bing Xiao","orcid":"https://orcid.org/0000-0002-6983-7349"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bing Xiao","raw_affiliation_strings":["Northwestern Polytechnical University, Xi\u2019an, China","[School of Automation, Northwestern Polytechnical University, Xi'an, China, 710072 (e-mail: xiaobing@nwpu.edu.cn)]"],"raw_orcid":"https://orcid.org/0000-0002-6983-7349","affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University, Xi\u2019an, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"[School of Automation, Northwestern Polytechnical University, Xi'an, China, 710072 (e-mail: xiaobing@nwpu.edu.cn)]","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029034164","display_name":"Dechao Ran","orcid":"https://orcid.org/0000-0002-7446-7178"},"institutions":[{"id":"https://openalex.org/I4210160531","display_name":"Chinese People's Liberation Army","ror":"https://ror.org/05tf9r976","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210160531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dechao Ran","raw_affiliation_strings":["Chinese Academy of Military Science, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Military Science, Beijing, China","institution_ids":["https://openalex.org/I4210160531"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2045,"currency":"USD","value_usd":2045},"apc_paid":null,"fwci":10.8108,"has_fulltext":false,"cited_by_count":196,"citation_normalized_percentile":{"value":0.99149167,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":100},"biblio":{"volume":"58","issue":"1","first_page":"290","last_page":"303"},"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":0.9972000122070312,"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":0.9959999918937683,"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/control-theory","display_name":"Control theory (sociology)","score":0.8859671950340271},{"id":"https://openalex.org/keywords/sign-function","display_name":"Sign function","score":0.8257758617401123},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.7200875282287598},{"id":"https://openalex.org/keywords/variable-structure-control","display_name":"Variable structure control","score":0.6342460513114929},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5618759989738464},{"id":"https://openalex.org/keywords/settling-time","display_name":"Settling time","score":0.5606499314308167},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5592759251594543},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5119308233261108},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.4662529230117798},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.461204469203949},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4516935348510742},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.44563719630241394},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3508845567703247},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33979833126068115},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27713072299957275},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22485116124153137},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08153378963470459},{"id":"https://openalex.org/keywords/step-response","display_name":"Step response","score":0.0718507170677185}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8859671950340271},{"id":"https://openalex.org/C4250","wikidata":"https://www.wikidata.org/wiki/Q236813","display_name":"Sign function","level":2,"score":0.8257758617401123},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.7200875282287598},{"id":"https://openalex.org/C185109637","wikidata":"https://www.wikidata.org/wiki/Q7915740","display_name":"Variable structure control","level":4,"score":0.6342460513114929},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5618759989738464},{"id":"https://openalex.org/C14781684","wikidata":"https://www.wikidata.org/wiki/Q3983320","display_name":"Settling time","level":3,"score":0.5606499314308167},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5592759251594543},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5119308233261108},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.4662529230117798},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.461204469203949},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4516935348510742},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.44563719630241394},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3508845567703247},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33979833126068115},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27713072299957275},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22485116124153137},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08153378963470459},{"id":"https://openalex.org/C160030872","wikidata":"https://www.wikidata.org/wiki/Q2142864","display_name":"Step response","level":2,"score":0.0718507170677185},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/taes.2021.3101562","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2021.3101562","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"is_oa":false,"is_in_doaj":false,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6600000262260437,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G2540202479","display_name":null,"funder_award_id":"62073212","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3070888322","display_name":null,"funder_award_id":"2019M661467","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G4613422778","display_name":null,"funder_award_id":"J2019-I-0021-0020","funder_id":"https://openalex.org/F4320329860","funder_display_name":"National Science and Technology Major Project"},{"id":"https://openalex.org/G8760798847","display_name":null,"funder_award_id":"61873207","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"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320329860","display_name":"National Science and Technology Major Project","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1576721254","https://openalex.org/W1988367613","https://openalex.org/W1991103959","https://openalex.org/W2004290356","https://openalex.org/W2012890691","https://openalex.org/W2015113370","https://openalex.org/W2025099956","https://openalex.org/W2046485500","https://openalex.org/W2072827625","https://openalex.org/W2084279695","https://openalex.org/W2109920799","https://openalex.org/W2117933783","https://openalex.org/W2171541961","https://openalex.org/W2517836063","https://openalex.org/W2556786221","https://openalex.org/W2572912109","https://openalex.org/W2580507099","https://openalex.org/W2596192431","https://openalex.org/W2599066707","https://openalex.org/W2606144904","https://openalex.org/W2614379930","https://openalex.org/W2731463498","https://openalex.org/W2768276274","https://openalex.org/W2782559590","https://openalex.org/W2789897185","https://openalex.org/W2789972161","https://openalex.org/W2792045360","https://openalex.org/W2794370031","https://openalex.org/W2808922731","https://openalex.org/W2887965629","https://openalex.org/W2895824696","https://openalex.org/W2895943529","https://openalex.org/W2899572991","https://openalex.org/W2964424014","https://openalex.org/W2964728651","https://openalex.org/W2979743057","https://openalex.org/W2980410771","https://openalex.org/W2994802707","https://openalex.org/W3035732476","https://openalex.org/W3049496986","https://openalex.org/W3088869940"],"related_works":["https://openalex.org/W2352173564","https://openalex.org/W1845306153","https://openalex.org/W2166459078","https://openalex.org/W3008046258","https://openalex.org/W1986302371","https://openalex.org/W2786766270","https://openalex.org/W2354472894","https://openalex.org/W4386085591","https://openalex.org/W2347475515","https://openalex.org/W2172011062"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"a":[3,40,85,97,101],"study":[4],"of":[5,72,81,127,148],"the":[6,15,29,37,50,54,68,73,78,82,107,114,128,139,143,149],"appointed":[7,30,55,60,122],"fixed":[8,31,61,124],"time":[9,32,62,125],"control":[10,21,91,131],"problem":[11,80],"is":[12,45,64,93,110,133],"presented":[13],"for":[14],"quadrotor":[16],"unmanned":[17],"aerial":[18],"vehicle":[19],"attitude":[20,70,130],"system":[22,132],"subject":[23],"to":[24,48,66],"external":[25,51],"disturbances.":[26],"Based":[27],"on":[28],"sliding":[33,42,89,103],"mode":[34,43,90,104],"variable":[35],"and":[36,100,135,145],"adaptive":[38,88],"technique,":[39],"novel":[41,86],"observer":[44],"first":[46],"established":[47],"estimate":[49],"disturbances":[52],"within":[53],"settling":[56],"time.":[57],"Subsequently,":[58],"an":[59],"controller":[63],"proposed":[65,150],"track":[67],"desired":[69],"regardless":[71],"initial":[74],"states.":[75],"To":[76],"circumvent":[77],"singularity":[79],"above":[83],"controller,":[84],"improved":[87],"law":[92],"designed":[94],"by":[95,112,154],"employing":[96],"nonlinear":[98],"function":[99,116],"modified":[102],"observer.":[105],"Moreover,":[106],"chattering":[108],"phenomenon":[109],"attenuated":[111],"replacing":[113],"sign":[115],"with":[117],"hyperbolic":[118],"tangent":[119],"function.":[120],"The":[121],"practical":[123],"stability":[126],"closed-loop":[129],"proved":[134],"analyzed":[136],"rigorously":[137],"utilizing":[138],"Lyapunov":[140],"theory.":[141],"Finally,":[142],"effectiveness":[144],"fine":[146],"performance":[147],"schemes":[151],"are":[152],"illustrated":[153],"numerical":[155],"simulation":[156],"results.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":33},{"year":2025,"cited_by_count":65},{"year":2024,"cited_by_count":40},{"year":2023,"cited_by_count":43},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":2}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}