{"id":"https://openalex.org/W4366380741","doi":"https://doi.org/10.1145/3584376.3584446","title":"Robust Trajectory Tracking Control for a Quadrotor UAV with Input Constraints","display_name":"Robust Trajectory Tracking Control for a Quadrotor UAV with Input Constraints","publication_year":2022,"publication_date":"2022-12-16","ids":{"openalex":"https://openalex.org/W4366380741","doi":"https://doi.org/10.1145/3584376.3584446"},"language":"en","primary_location":{"id":"doi:10.1145/3584376.3584446","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3584376.3584446","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2022 4th International Conference on Robotics, Intelligent Control and Artificial Intelligence","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/A5011583834","display_name":"Chen Li","orcid":"https://orcid.org/0000-0002-7345-1991"},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chen Li","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, China Jiliang University, China"],"raw_orcid":"https://orcid.org/0000-0002-7345-1991","affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, China Jiliang University, China","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111811088","display_name":"Wen-Tao Yu","orcid":"https://orcid.org/0000-0002-4977-984X"},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wentao Yu","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, China Jiliang University, China"],"raw_orcid":"https://orcid.org/0000-0002-4977-984X","affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, China Jiliang University, China","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040173616","display_name":"Yixuan Tian","orcid":"https://orcid.org/0000-0002-3431-656X"},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yixuan Tian","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, China Jiliang University, China"],"raw_orcid":"https://orcid.org/0000-0002-3431-656X","affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, China Jiliang University, China","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048045446","display_name":"Jing\u2010Jing Xiong","orcid":"https://orcid.org/0000-0003-3104-5853"},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing-Jing Xiong","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, China Jiliang University, China"],"raw_orcid":"https://orcid.org/0000-0003-3104-5853","affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, China Jiliang University, China","institution_ids":["https://openalex.org/I55538621"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5011583834"],"corresponding_institution_ids":["https://openalex.org/I55538621"],"apc_list":null,"apc_paid":null,"fwci":0.1215,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.46732647,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"382","last_page":"386"},"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/T12158","display_name":"Guidance and Control Systems","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":0.9937000274658203,"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":0.8870173692703247},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8283665776252747},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.7994639873504639},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6107679605484009},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.5895400643348694},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5713532567024231},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5507522225379944},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5407076478004456},{"id":"https://openalex.org/keywords/stability-theory","display_name":"Stability theory","score":0.5242812037467957},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.513221263885498},{"id":"https://openalex.org/keywords/variable-structure-control","display_name":"Variable structure control","score":0.4931914210319519},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.49172070622444153},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4810936152935028},{"id":"https://openalex.org/keywords/state-variable","display_name":"State variable","score":0.4599761962890625},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.45819127559661865},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3970353603363037},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.380546510219574},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2835550308227539},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.16225048899650574},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09684112668037415},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.07780706882476807}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8870173692703247},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8283665776252747},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.7994639873504639},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6107679605484009},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.5895400643348694},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5713532567024231},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5507522225379944},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5407076478004456},{"id":"https://openalex.org/C41949839","wikidata":"https://www.wikidata.org/wiki/Q1756677","display_name":"Stability theory","level":3,"score":0.5242812037467957},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.513221263885498},{"id":"https://openalex.org/C185109637","wikidata":"https://www.wikidata.org/wiki/Q7915740","display_name":"Variable structure control","level":4,"score":0.4931914210319519},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.49172070622444153},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4810936152935028},{"id":"https://openalex.org/C129537906","wikidata":"https://www.wikidata.org/wiki/Q7603913","display_name":"State variable","level":2,"score":0.4599761962890625},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.45819127559661865},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3970353603363037},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.380546510219574},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2835550308227539},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.16225048899650574},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09684112668037415},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.07780706882476807},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3584376.3584446","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3584376.3584446","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2022 4th International Conference on Robotics, Intelligent Control and Artificial Intelligence","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.6700000166893005}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W2003688959","https://openalex.org/W2033531450","https://openalex.org/W2049933349","https://openalex.org/W2049948159","https://openalex.org/W2334750579","https://openalex.org/W2899767203","https://openalex.org/W2972057980","https://openalex.org/W2986558541","https://openalex.org/W3003712617","https://openalex.org/W3042805573","https://openalex.org/W3042976427","https://openalex.org/W3093458250","https://openalex.org/W3114438852","https://openalex.org/W3132878488","https://openalex.org/W3163254998","https://openalex.org/W3168002182"],"related_works":["https://openalex.org/W2352173564","https://openalex.org/W1845306153","https://openalex.org/W2166459078","https://openalex.org/W3008046258","https://openalex.org/W2391441277","https://openalex.org/W2306349892","https://openalex.org/W2274682661","https://openalex.org/W2786766270","https://openalex.org/W897560829","https://openalex.org/W2375807149"],"abstract_inverted_index":{"This":[0],"paper":[1],"mainly":[2],"investigates":[3],"the":[4,40,51,60,66,98,104,111,114],"robust":[5],"problem":[6],"of":[7,13,69,113],"sliding":[8,24,81,86,116],"mode":[9,25,82,87,117],"trajectory":[10,61],"tracking":[11,62],"control":[12,26,41,52,83,118],"a":[14],"quadrotor":[15],"unmanned":[16],"aerial":[17],"vehicle":[18],"(UAV)":[19],"with":[20,39],"input":[21,30,42],"constraints.":[22],"A":[23],"approach":[27],"that":[28,64,97],"considers":[29],"constraints":[31],"is":[32,47,100],"developed":[33,115],"to":[34,49,76,109],"address":[35],"it.":[36],"To":[37],"deal":[38],"constraints,":[43],"an":[44],"auxiliary":[45,70],"system":[46,71,99],"presented":[48],"compensate":[50],"inputs":[53],"via":[54],"using":[55],"its":[56],"state":[57,67],"variables.":[58],"Simultaneously,":[59],"errors":[63],"include":[65],"variables":[68],"are":[72,89,94,107],"defined.":[73],"Then,":[74],"according":[75],"Lyapunov":[77],"stability":[78],"theory":[79],"and":[80,91],"theory,":[84],"suitable":[85],"surfaces":[88],"constructed":[90],"corresponding":[92],"controllers":[93],"designed":[95],"such":[96],"asymptotically":[101],"stable.":[102],"Finally,":[103],"simulation":[105],"results":[106],"given":[108],"confirm":[110],"availability":[112],"approach.":[119]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
