{"id":"https://openalex.org/W4291308361","doi":"https://doi.org/10.1109/vss57184.2022.9902104","title":"Super-Twisting Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator","display_name":"Super-Twisting Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator","publication_year":2022,"publication_date":"2022-09-11","ids":{"openalex":"https://openalex.org/W4291308361","doi":"https://doi.org/10.1109/vss57184.2022.9902104"},"language":"en","primary_location":{"id":"doi:10.1109/vss57184.2022.9902104","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vss57184.2022.9902104","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 16th International Workshop on Variable Structure Systems (VSS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5087919622","display_name":"Hardy Azmir Bin Anuar","orcid":null},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Hardy Azmir Bin Anuar","raw_affiliation_strings":["Nantes Universit&#x00E9;, Ecole Centrale Nantes, CNRS, LS2N, UMR 6004,Nantes,France,F-44000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nantes Universit&#x00E9;, Ecole Centrale Nantes, CNRS, LS2N, UMR 6004,Nantes,France,F-44000","institution_ids":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I4210117005","https://openalex.org/I97188460"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027102455","display_name":"Franck Plestan","orcid":"https://orcid.org/0000-0001-8971-5106"},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Franck Plestan","raw_affiliation_strings":["Nantes Universit&#x00E9;, Ecole Centrale Nantes, CNRS, LS2N, UMR 6004,Nantes,France,F-44000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nantes Universit&#x00E9;, Ecole Centrale Nantes, CNRS, LS2N, UMR 6004,Nantes,France,F-44000","institution_ids":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I4210117005","https://openalex.org/I97188460"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067045726","display_name":"Abdelhamid Chriette","orcid":"https://orcid.org/0000-0003-4457-1561"},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Abdelhamid Chriette","raw_affiliation_strings":["Nantes Universit&#x00E9;, Ecole Centrale Nantes, CNRS, LS2N, UMR 6004,Nantes,France,F-44000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nantes Universit&#x00E9;, Ecole Centrale Nantes, CNRS, LS2N, UMR 6004,Nantes,France,F-44000","institution_ids":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I4210117005","https://openalex.org/I97188460"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003437094","display_name":"Olivier Kermorgant","orcid":"https://orcid.org/0000-0002-1265-4138"},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Olivier Kermorgant","raw_affiliation_strings":["Nantes Universit&#x00E9;, Ecole Centrale Nantes, CNRS, LS2N, UMR 6004,Nantes,France,F-44000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nantes Universit&#x00E9;, Ecole Centrale Nantes, CNRS, LS2N, UMR 6004,Nantes,France,F-44000","institution_ids":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I4210117005","https://openalex.org/I97188460"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"53","last_page":"58"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9983000159263611,"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":0.9973999857902527,"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":0.8690204620361328},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.67707359790802},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4847685694694519},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.47850075364112854},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4508384168148041},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.44761380553245544},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.443128764629364},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3885822296142578},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17656174302101135},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17507344484329224},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15513983368873596},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.11255195736885071},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08765402436256409}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8690204620361328},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.67707359790802},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4847685694694519},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.47850075364112854},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4508384168148041},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.44761380553245544},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.443128764629364},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3885822296142578},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17656174302101135},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17507344484329224},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15513983368873596},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.11255195736885071},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08765402436256409},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/vss57184.2022.9902104","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vss57184.2022.9902104","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 16th International Workshop on Variable Structure Systems (VSS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W106556187","https://openalex.org/W201697872","https://openalex.org/W1552319742","https://openalex.org/W1564897360","https://openalex.org/W1969140852","https://openalex.org/W2003880081","https://openalex.org/W2018851823","https://openalex.org/W2019896740","https://openalex.org/W2113265921","https://openalex.org/W2123085078","https://openalex.org/W2162625392","https://openalex.org/W2420367108","https://openalex.org/W2513458072","https://openalex.org/W2578303201","https://openalex.org/W2766719860","https://openalex.org/W2792083172","https://openalex.org/W2901687922","https://openalex.org/W2902512772","https://openalex.org/W2968733763","https://openalex.org/W3025179402","https://openalex.org/W3042779015","https://openalex.org/W3126644894","https://openalex.org/W4200631234","https://openalex.org/W4205654716","https://openalex.org/W4243385754","https://openalex.org/W6608173742","https://openalex.org/W6642712969","https://openalex.org/W6655188812","https://openalex.org/W6677390752","https://openalex.org/W6678290223"],"related_works":["https://openalex.org/W2770593030","https://openalex.org/W4281727072","https://openalex.org/W2560201613","https://openalex.org/W3154990682","https://openalex.org/W2171975302","https://openalex.org/W2022352247","https://openalex.org/W1589637664","https://openalex.org/W1532073221","https://openalex.org/W2377538627","https://openalex.org/W2107220315"],"abstract_inverted_index":{"This":[0,39],"paper":[1],"presents":[2],"the":[3,30,33,36,50,53,61,65,106],"control":[4,84,98],"of":[5,10,19,32,52,64,92,105],"an":[6],"aerial":[7],"manipulator":[8,15,37],"composed":[9],"a":[11,14,25,90],"quadrotor":[12],"and":[13,35,108,115],"with":[16,42,68,85,99],"two":[17],"degrees":[18],"freedom":[20],"(2":[21],"DOF).":[22],"There":[23],"is":[24,78,89],"strong":[26],"physical":[27],"coupling":[28,40],"between":[29],"dynamics":[31],"UAV":[34],"arm.":[38],"along":[41],"external":[43],"perturbations":[44,112],"(e.g.":[45],"wind":[46],"gusts),":[47],"considerably":[48],"affects":[49,60],"stability":[51],"drone\u2019s":[54],"motion":[55],"in":[56],"flight":[57],"which,":[58],"consequently,":[59],"desired":[62],"accuracy":[63],"end":[66],"effector":[67],"respect":[69],"to":[70],"its":[71,109],"final":[72],"task.":[73],"The":[74,103],"solution":[75],"presented":[76],"here":[77],"based":[79],"on":[80,95],"super-twisting":[81],"sliding":[82,96],"mode":[83,97],"adaptive":[86,100],"gain.":[87],"It":[88],"continuation":[91],"previous":[93],"study":[94],"gain":[101],"[1].":[102],"effectiveness":[104],"controller":[107],"robustness":[110],"against":[111],"are":[113],"verified":[114],"analyzed":[116],"using":[117],"numerical":[118],"simulation.":[119]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
