{"id":"https://openalex.org/W4388207131","doi":"https://doi.org/10.1109/tase.2023.3324434","title":"Adaptive Robust Trajectory Tracking Controller for a Quadrotor UAV With Uncertain Environment Parameters Based on Backstepping Sliding Mode Method","display_name":"Adaptive Robust Trajectory Tracking Controller for a Quadrotor UAV With Uncertain Environment Parameters Based on Backstepping Sliding Mode Method","publication_year":2023,"publication_date":"2023-10-26","ids":{"openalex":"https://openalex.org/W4388207131","doi":"https://doi.org/10.1109/tase.2023.3324434"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2023.3324434","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3324434","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","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/A5059897805","display_name":"Yuhong Hou","orcid":"https://orcid.org/0009-0000-5601-5429"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Yuhong Hou","raw_affiliation_strings":["Technology and Engineering Center, Chinese Flight Test Establishment, Xi&#x2019;an, China"],"affiliations":[{"raw_affiliation_string":"Technology and Engineering Center, Chinese Flight Test Establishment, Xi&#x2019;an, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057143419","display_name":"Dengkai Chen","orcid":"https://orcid.org/0000-0002-2714-1220"},"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":"Dengkai Chen","raw_affiliation_strings":["School of Mechanical Engineering, Northwestern Polytechnical University, Xi&#x2019;an, Shaanxi, China","School of Mechanical Engineering, Northwestern Polytechnical University, Xi&#x2019;an, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Northwestern Polytechnical University, Xi&#x2019;an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Mechanical Engineering, Northwestern Polytechnical University, Xi&#x2019;an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108476596","display_name":"Shuming Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuming Yang","raw_affiliation_strings":["College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5059897805"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.1999,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.98570625,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"22","issue":null,"first_page":"4446","last_page":"4456"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9912999868392944,"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":0.9912999868392944,"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":0.9822999835014343,"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.975600004196167,"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/backstepping","display_name":"Backstepping","score":0.8486709594726562},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.843594491481781},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7432908415794373},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.616084635257721},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5218530893325806},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5093635320663452},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.508295476436615},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4929337501525879},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4864771068096161},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.47817736864089966},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4514819085597992},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.41392242908477783},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3436809182167053},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.2865248918533325},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.2336389124393463},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20173901319503784},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1668734848499298},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08268618583679199}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.8486709594726562},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.843594491481781},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7432908415794373},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.616084635257721},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5218530893325806},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5093635320663452},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.508295476436615},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4929337501525879},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4864771068096161},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.47817736864089966},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4514819085597992},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.41392242908477783},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3436809182167053},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.2865248918533325},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2336389124393463},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20173901319503784},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1668734848499298},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08268618583679199},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2023.3324434","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3324434","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","score":0.5899999737739563,"id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1986045690","https://openalex.org/W2004556586","https://openalex.org/W2026490188","https://openalex.org/W2153807823","https://openalex.org/W2163198877","https://openalex.org/W2168827770","https://openalex.org/W2291623206","https://openalex.org/W2334750579","https://openalex.org/W2337020052","https://openalex.org/W2465682726","https://openalex.org/W2596296327","https://openalex.org/W2771250673","https://openalex.org/W2773360978","https://openalex.org/W2885347335","https://openalex.org/W2897267426","https://openalex.org/W2904219526","https://openalex.org/W2939726593","https://openalex.org/W2945313006","https://openalex.org/W2964789461","https://openalex.org/W2982079547","https://openalex.org/W3011524659","https://openalex.org/W3024223975","https://openalex.org/W3083820397","https://openalex.org/W3096744545","https://openalex.org/W3153899836","https://openalex.org/W3157400542","https://openalex.org/W3160184364","https://openalex.org/W4300861269","https://openalex.org/W4312762795","https://openalex.org/W4313598800","https://openalex.org/W4362592527","https://openalex.org/W4385833345"],"related_works":["https://openalex.org/W2036311230","https://openalex.org/W1847613412","https://openalex.org/W4382203996","https://openalex.org/W2108470770","https://openalex.org/W1512021029","https://openalex.org/W1972862722","https://openalex.org/W2281732014","https://openalex.org/W2063351494","https://openalex.org/W2319803529","https://openalex.org/W1562326332"],"abstract_inverted_index":{"In":[0,226,285,350],"order":[1],"to":[2,45,59,130,151,170,197,233,243,256,292,335,355],"improve":[3,270,378],"the":[4,47,51,61,65,70,74,79,84,90,94,98,104,108,120,132,136,139,145,153,157,172,177,184,189,211,244,254,258,271,274,294,328,333,337,351,379],"trajectory":[5,21,87,173,206],"tracking":[6,22,105,174,207],"accuracy":[7,80,278],"and":[8,54,77,81,116,123,138,161,183,186,224,238,250,299,314],"environmental":[9,222,283],"adaptability":[10],"of":[11,64,73,83,93,107,135,156,176,188,213,273,382],"a":[12,25,205],"quadrotor":[13,26,85,95,109,178,214,383],"unmanned":[14],"aerial":[15],"vehicle":[16],"(UAV),":[17],"an":[18,56,357],"adaptive":[19,43,121,228,306],"robust":[20],"controller":[23,41,191,208,240,267,330],"for":[24,210],"UAV":[27,75,86,96,110,158,179,255,334,384],"with":[28,180],"uncertain":[29],"environment":[30,100],"parameters":[31,49,223],"based":[32,304],"on":[33,203,305,365],"Backstepping":[34,124],"sliding":[35,125,265],"mode":[36,126,266],"method":[37,122,127,360],"is":[38,101,111,149,241,289],"proposed.":[39],"This":[40],"uses":[42],"estimates":[44,137],"approximate":[46],"unknown":[48,221,312],"in":[50,97,219,247,319,347,385],"system":[52,160],"model":[53,92,235],"designs":[55],"anti-interference":[57],"link":[58],"counteract":[60],"negative":[62],"impact":[63],"external":[66,295],"environment,":[67],"which":[68],"compensates":[69],"control":[71,141,246,359],"input":[72,142],"rotor":[76,140,245],"improves":[78],"stability":[82,155],"tracking.":[88],"Firstly,":[89],"mathematical":[91],"interference":[99,281,298,348],"established.":[102],"Secondly,":[103],"target":[106,115],"divided":[112],"into":[113],"attitude":[114,159],"position":[117,162],"target.":[118],"Then,":[119],"are":[128,167,192,231],"used":[129,232],"design":[131,356],"update":[133],"laws":[134,230],"equations.":[143],"Meanwhile,":[144,262],"appropriate":[146],"Lyapunov":[147],"function":[148],"established":[150,259],"verify":[152],"asymptotic":[154],"system.":[163],"Finally,":[164],"simulation":[165,323],"experiments":[166],"carried":[168],"out":[169],"compare":[171],"performance":[175],"various":[181],"controllers,":[182],"effectiveness":[185],"superiority":[187],"proposed":[190,329],"verified.":[193],"<italic":[194],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[195],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[196],"Practitioners</i>":[198],"\u2014This":[199],"paper":[200],"mainly":[201],"focuses":[202],"studying":[204,291],"suitable":[209],"dynamics":[212],"UAVs,":[215],"especially":[216],"its":[217],"application":[218,345,380],"resisting":[220],"disturbances.":[225],"practice,":[227],"predictive":[229],"estimate":[234],"parameter":[236],"perturbations,":[237],"this":[239,373],"applied":[242],"yaw,":[248],"pitch,":[249],"roll":[251],"directions,":[252],"enabling":[253],"track":[257,336],"reference":[260],"trajectory.":[261],"our":[263],"backstepping":[264],"can":[268,308,331],"effectively":[269,309],"robustness":[272],"UAV,":[275],"ensuring":[276],"flight":[277,286],"while":[279],"reducing":[280],"from":[282,317],"parameters.":[284],"control,":[287],"it":[288],"worth":[290],"solve":[293],"wind":[296],"field":[297],"modeling":[300],"deviation.":[301],"Parameter":[302],"prediction":[303],"methods":[307],"handle":[310],"these":[311],"variables":[313],"prevent":[315],"UAVs":[316],"oversteer":[318],"complex":[320],"environments.":[321,349],"The":[322],"results":[324],"have":[325],"verified":[326],"that":[327,361],"enable":[332],"artificially":[338],"set":[339],"spiral":[340],"ascent":[341],"trajectory,":[342],"demonstrating":[343],"high":[344],"value":[346],"future,":[352],"we":[353,375],"plan":[354],"intelligent":[358],"does":[362],"not":[363],"rely":[364],"physical":[366],"modeling,":[367],"rather":[368],"than":[369],"precise":[370],"models.":[371],"With":[372],"change,":[374],"will":[376],"further":[377],"realizability":[381],"real":[386],"world":[387],"scenarios.":[388]},"counts_by_year":[{"year":2026,"cited_by_count":11},{"year":2025,"cited_by_count":29},{"year":2024,"cited_by_count":11}],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}