{"id":"https://openalex.org/W4402262988","doi":"https://doi.org/10.23919/acc60939.2024.10644679","title":"A Robust Sliding-Mode Control Framework for Quadrotors Subject to Model Uncertainty and External Disturbances","display_name":"A Robust Sliding-Mode Control Framework for Quadrotors Subject to Model Uncertainty and External Disturbances","publication_year":2024,"publication_date":"2024-07-10","ids":{"openalex":"https://openalex.org/W4402262988","doi":"https://doi.org/10.23919/acc60939.2024.10644679"},"language":"en","primary_location":{"id":"doi:10.23919/acc60939.2024.10644679","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/acc60939.2024.10644679","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 American Control Conference (ACC)","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/A5034539891","display_name":"Yefeng Yang","orcid":"https://orcid.org/0000-0002-6396-3010"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Yefeng Yang","raw_affiliation_strings":["The Hong Kong Polytechnic University,Department of Aeronautical and Aviation Engineering,Hong Kong,China"],"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University,Department of Aeronautical and Aviation Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087329829","display_name":"Tao Huang","orcid":"https://orcid.org/0000-0002-0857-0716"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Tao Huang","raw_affiliation_strings":["The Hong Kong Polytechnic University,Department of Aeronautical and Aviation Engineering,Hong Kong,China"],"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University,Department of Aeronautical and Aviation Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081330275","display_name":"Tianqi Wang","orcid":"https://orcid.org/0000-0003-2885-465X"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Tianqi Wang","raw_affiliation_strings":["The Hong Kong Polytechnic University,Department of Aeronautical and Aviation Engineering,Hong Kong,China"],"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University,Department of Aeronautical and Aviation Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038976027","display_name":"Chih\u2010Yung Wen","orcid":"https://orcid.org/0000-0002-1181-8786"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Chih-Yung Wen","raw_affiliation_strings":["The Hong Kong Polytechnic University,Department of Aeronautical and Aviation Engineering,Hong Kong,China"],"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University,Department of Aeronautical and Aviation Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I14243506"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5034539891"],"corresponding_institution_ids":["https://openalex.org/I14243506"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16109757,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3809","last_page":"3814"},"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9952999949455261,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9904999732971191,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.6890512704849243},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6513899564743042},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6291126012802124},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.623330295085907},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5084725618362427},{"id":"https://openalex.org/keywords/subject","display_name":"Subject (documents)","score":0.4696356952190399},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.46437305212020874},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43742403388023376},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4027675986289978},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.2930327355861664},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25520479679107666},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21144437789916992},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1788669228553772},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0753014087677002},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.07068705558776855}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6890512704849243},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6513899564743042},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6291126012802124},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.623330295085907},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5084725618362427},{"id":"https://openalex.org/C2777855551","wikidata":"https://www.wikidata.org/wiki/Q12310021","display_name":"Subject (documents)","level":2,"score":0.4696356952190399},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.46437305212020874},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43742403388023376},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4027675986289978},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2930327355861664},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25520479679107666},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21144437789916992},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1788669228553772},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0753014087677002},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.07068705558776855},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C161191863","wikidata":"https://www.wikidata.org/wiki/Q199655","display_name":"Library science","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc60939.2024.10644679","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/acc60939.2024.10644679","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7599999904632568,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1988837728","https://openalex.org/W1989051419","https://openalex.org/W1999558720","https://openalex.org/W2048506187","https://openalex.org/W2064008010","https://openalex.org/W2736101375","https://openalex.org/W2913218449","https://openalex.org/W2930426397","https://openalex.org/W2964424014","https://openalex.org/W2967866161","https://openalex.org/W2986558541","https://openalex.org/W3002591267","https://openalex.org/W3024223975","https://openalex.org/W3043502726","https://openalex.org/W3096744545","https://openalex.org/W3189926634","https://openalex.org/W3195525682","https://openalex.org/W3198468579","https://openalex.org/W4206476463","https://openalex.org/W4285605333","https://openalex.org/W4293254527","https://openalex.org/W6647522269"],"related_works":["https://openalex.org/W2770593030","https://openalex.org/W3154990682","https://openalex.org/W1980376593","https://openalex.org/W2123479323","https://openalex.org/W1979214824","https://openalex.org/W2104109729","https://openalex.org/W324942907","https://openalex.org/W2685330831","https://openalex.org/W2386946123","https://openalex.org/W1990564581"],"abstract_inverted_index":{"In":[0],"this":[1],"study,":[2],"we":[3],"propose":[4],"a":[5,36,53,69,81,94],"novel":[6],"control":[7,13,47,73],"framework":[8],"to":[9,17,29,78,112],"deal":[10],"with":[11],"position":[12],"for":[14,45,63],"quadrotors":[15],"subject":[16],"time-varying":[18,98],"disturbances":[19,100],"and":[20,33,52,93,108,116],"uncertainty.":[21],"High-order":[22],"sliding":[23,38,57],"mode":[24,39,58],"observers":[25],"(HSMOs)":[26],"are":[27,110],"utilized":[28],"estimate":[30],"the":[31,49,76,88,103,114,119],"uncertainty":[32,92],"disturbances.":[34],"Then,":[35],"dynamic":[37],"controller":[40,59],"(DSM":[41],"C)":[42],"is":[43,61],"presented":[44],"tracking":[46,66],"of":[48,84,90,97,118],"inner-loop":[50],"subsystem":[51,65],"fast":[54],"non-singular":[55],"terminal":[56],"(FNTSMC)":[60],"developed":[62],"outer-loop":[64],"control.":[67],"As":[68],"result,":[70],"our":[71],"proposed":[72],"law":[74],"enables":[75],"quadrotor":[77],"precisely":[79],"track":[80],"large":[82,95],"class":[83,96],"reference":[85],"signals":[86],"under":[87],"presence":[89],"model":[91],"external":[99],"while":[101],"reducing":[102],"chattering":[104],"phenomenon.":[105],"Both":[106],"simulation":[107],"experiment":[109],"given":[111],"validate":[113],"effectiveness":[115],"superiority":[117],"designed":[120],"controllers.":[121]},"counts_by_year":[],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}