{"id":"https://openalex.org/W4400050493","doi":"https://doi.org/10.1142/s2301385025500529","title":"Energy-Efficient Passivity-Based Sliding Mode Controller for Small-Scale Quadrotor UAV for Trajectory Tracking","display_name":"Energy-Efficient Passivity-Based Sliding Mode Controller for Small-Scale Quadrotor UAV for Trajectory Tracking","publication_year":2024,"publication_date":"2024-06-26","ids":{"openalex":"https://openalex.org/W4400050493","doi":"https://doi.org/10.1142/s2301385025500529"},"language":"en","primary_location":{"id":"doi:10.1142/s2301385025500529","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385025500529","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned 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/A5068305582","display_name":"Khedidja Bouhabza","orcid":"https://orcid.org/0000-0003-3021-5080"},"institutions":[{"id":"https://openalex.org/I2802493600","display_name":"Polytechnic School of Algiers","ror":"https://ror.org/05t0zwy08","country_code":"DZ","type":"education","lineage":["https://openalex.org/I2802493600"]}],"countries":["DZ"],"is_corresponding":true,"raw_author_name":"Khedidja Bouhabza","raw_affiliation_strings":["Complexe Systems Control and Simulators Laboratory, Ecole Militaire Polytechnique, Bordj el Bahri, Algeria"],"affiliations":[{"raw_affiliation_string":"Complexe Systems Control and Simulators Laboratory, Ecole Militaire Polytechnique, Bordj el Bahri, Algeria","institution_ids":["https://openalex.org/I2802493600"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063382544","display_name":"Mohamed Guiatni","orcid":"https://orcid.org/0000-0002-5899-6862"},"institutions":[{"id":"https://openalex.org/I2802493600","display_name":"Polytechnic School of Algiers","ror":"https://ror.org/05t0zwy08","country_code":"DZ","type":"education","lineage":["https://openalex.org/I2802493600"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Mohamed Guiatni","raw_affiliation_strings":["Complexe Systems Control and Simulators Laboratory, Ecole Militaire Polytechnique, Bordj el Bahri, Algeria"],"affiliations":[{"raw_affiliation_string":"Complexe Systems Control and Simulators Laboratory, Ecole Militaire Polytechnique, Bordj el Bahri, Algeria","institution_ids":["https://openalex.org/I2802493600"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035814822","display_name":"Yasser Bouzid","orcid":"https://orcid.org/0000-0002-8400-9912"},"institutions":[{"id":"https://openalex.org/I2802493600","display_name":"Polytechnic School of Algiers","ror":"https://ror.org/05t0zwy08","country_code":"DZ","type":"education","lineage":["https://openalex.org/I2802493600"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Yasser Bouzid","raw_affiliation_strings":["Complexe Systems Control and Simulators Laboratory, Ecole Militaire Polytechnique, Bordj el Bahri, Algeria"],"affiliations":[{"raw_affiliation_string":"Complexe Systems Control and Simulators Laboratory, Ecole Militaire Polytechnique, Bordj el Bahri, Algeria","institution_ids":["https://openalex.org/I2802493600"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029907688","display_name":"Mustapha Hamerlain","orcid":"https://orcid.org/0009-0006-2390-9382"},"institutions":[{"id":"https://openalex.org/I4210102186","display_name":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es","ror":"https://ror.org/01ay87255","country_code":"DZ","type":"facility","lineage":["https://openalex.org/I4210102186"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Mustapha Hamerlain","raw_affiliation_strings":["Centre de D\u00e9veloppement des Technologies Avanc\u00e9es, Algiers, Algeria"],"affiliations":[{"raw_affiliation_string":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es, Algiers, Algeria","institution_ids":["https://openalex.org/I4210102186"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5068305582"],"corresponding_institution_ids":["https://openalex.org/I2802493600"],"apc_list":null,"apc_paid":null,"fwci":0.6975,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.68765227,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"13","issue":"03","first_page":"837","last_page":"859"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9955999851226807,"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":0.9955999851226807,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9865000247955322,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.973800003528595,"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/passivity","display_name":"Passivity","score":0.8176060914993286},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7823984622955322},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7308149337768555},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6808110475540161},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5962552428245544},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5739967226982117},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.49294376373291016},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.48160621523857117},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46791985630989075},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3731081783771515},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28813308477401733},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2359330952167511},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19063350558280945},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1576651930809021},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.07469341158866882}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.8176060914993286},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7823984622955322},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7308149337768555},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6808110475540161},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5962552428245544},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5739967226982117},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.49294376373291016},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.48160621523857117},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46791985630989075},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3731081783771515},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28813308477401733},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2359330952167511},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19063350558280945},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1576651930809021},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.07469341158866882},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s2301385025500529","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385025500529","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8799999952316284,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W46022419","https://openalex.org/W55814457","https://openalex.org/W832757850","https://openalex.org/W1503208682","https://openalex.org/W1560432318","https://openalex.org/W1925878506","https://openalex.org/W1973688131","https://openalex.org/W1983368461","https://openalex.org/W1990042683","https://openalex.org/W2030415687","https://openalex.org/W2037933494","https://openalex.org/W2069481670","https://openalex.org/W2074477975","https://openalex.org/W2097607574","https://openalex.org/W2101694658","https://openalex.org/W2102899117","https://openalex.org/W2107941094","https://openalex.org/W2122123060","https://openalex.org/W2153807823","https://openalex.org/W2154157639","https://openalex.org/W2163198877","https://openalex.org/W2168128141","https://openalex.org/W2171541961","https://openalex.org/W2212459475","https://openalex.org/W2425649990","https://openalex.org/W2582380905","https://openalex.org/W2583277998","https://openalex.org/W2771095084","https://openalex.org/W2974823253","https://openalex.org/W2990709234","https://openalex.org/W2991110944","https://openalex.org/W3110257271","https://openalex.org/W3125019353","https://openalex.org/W3205184177","https://openalex.org/W4206111066","https://openalex.org/W4309324562","https://openalex.org/W4312538320","https://openalex.org/W4319985871","https://openalex.org/W4322576306","https://openalex.org/W4377240915","https://openalex.org/W4385699644","https://openalex.org/W4386542234","https://openalex.org/W4388759236","https://openalex.org/W4391019761","https://openalex.org/W4391111068"],"related_works":["https://openalex.org/W4233304828","https://openalex.org/W4239268637","https://openalex.org/W2952841825","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W2157008402","https://openalex.org/W2592302855","https://openalex.org/W2018658498","https://openalex.org/W3041553740"],"abstract_inverted_index":{"Quadrotor":[0],"unmanned":[1],"aerial":[2],"vehicles":[3,28],"(UAVs)":[4],"have":[5],"emerged":[6],"as":[7,15],"versatile":[8],"platforms":[9],"applicable":[10],"to":[11,112,135,175,197,199,243,262],"various":[12,47],"fields":[13],"such":[14],"surveillance,":[16],"reconnaissance,":[17],"and":[18,71,100,159,186,204,258],"mapping.":[19],"However,":[20],"the":[21,52,56,60,95,98,101,128,136,141,145,165,207,210,227,263],"limited":[22],"energy":[23,53,72,102,187,236],"capacity":[24],"inherent":[25],"in":[26,64,127,235],"these":[27],"poses":[29],"a":[30,36,79,114,124,147,181,190,232],"significant":[31],"challenge.":[32],"This":[33,153],"limitation":[34],"is":[35,110,151,162,195,213],"critical":[37],"concern":[38],"hindering":[39],"their":[40],"widespread":[41],"adoption":[42],"across":[43],"diverse":[44],"applications.":[45],"Despite":[46],"proposed":[48,129,211,228],"technological":[49],"solutions":[50],"addressing":[51],"consumption":[54,237],"issue,":[55],"central":[57],"challenge":[58],"for":[59,87],"control":[61,106,160,177,229],"community":[62],"lies":[63],"developing":[65],"controllers":[66],"that":[67,179],"ensure":[68],"stability,":[69],"robustness,":[70],"efficiency.":[73,188],"In":[74],"this":[75],"paper,":[76],"we":[77],"present":[78],"passivity-based":[80,105],"sliding":[81,115,137,192,265],"mode":[82,193,266],"controller":[83,92],"(P-SMC)":[84],"designed":[85],"specifically":[86],"quadrotor":[88],"UAVs.":[89],"The":[90,121,171,223],"suggested":[91],"capitalizes":[93],"on":[94,226],"robustness":[96],"of":[97,104,123,144,201,209],"SMC":[99],"efficiency":[103],"theory.":[107],"Feedback":[108],"passification":[109],"employed":[111],"create":[113],"surface":[116],"with":[117],"passivity,":[118],"ensuring":[119],"stability.":[120],"inclusion":[122],"noncontinuity":[125],"term":[126],"P-SMC":[130],"guarantees":[131],"global":[132],"asymptotic":[133],"convergence":[134],"surface.":[138],"To":[139],"address":[140],"multi-faceted":[142],"nature":[143],"problem,":[146],"multi-objective":[148],"optimization":[149,168,172],"criterion":[150],"introduced.":[152],"criterion,":[154],"which":[155],"combines":[156],"tracking":[157,184],"error":[158],"energy,":[161],"solved":[163],"using":[164],"ant":[166],"colony":[167],"(ACO)":[169],"algorithm.":[170],"process":[173],"aims":[174],"identify":[176],"parameters":[178],"strike":[180],"balance":[182],"between":[183],"accuracy":[185,253],"Additionally,":[189],"conventional":[191,264],"method":[194,212],"developed":[196],"respond":[198],"conditions":[200],"attempted":[202],"reach":[203],"sliding.":[205],"Finally,":[206],"effectiveness":[208],"demonstrated":[214],"through":[215],"simulation":[216],"results":[217],"considering":[218],"piecewise":[219],"constant":[220],"external":[221],"disturbances.":[222],"outcomes":[224],"based":[225],"strategy":[230],"indicate":[231],"notable":[233],"reduction":[234],"(ranging":[238],"from":[239],"[Formula:":[240,244],"see":[241,245,256],"text]":[242],"text]),":[246,257],"faster":[247],"reaching":[248],"times":[249],"(5\u20138":[250],"times),":[251],"higher":[252],"approximately":[254],"([Formula:":[255],"reduced":[259],"chattering":[260],"compared":[261],"technique.":[267]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}
