{"id":"https://openalex.org/W4412087967","doi":"https://doi.org/10.3390/computation13070162","title":"Robust Trajectory Tracking Fault-Tolerant Control for Quadrotor UAVs Based on Adaptive Sliding Mode and Fault Estimation","display_name":"Robust Trajectory Tracking Fault-Tolerant Control for Quadrotor UAVs Based on Adaptive Sliding Mode and Fault Estimation","publication_year":2025,"publication_date":"2025-07-07","ids":{"openalex":"https://openalex.org/W4412087967","doi":"https://doi.org/10.3390/computation13070162"},"language":"en","primary_location":{"id":"doi:10.3390/computation13070162","is_oa":true,"landing_page_url":"https://doi.org/10.3390/computation13070162","pdf_url":"https://www.mdpi.com/2079-3197/13/7/162/pdf?version=1751890713","source":{"id":"https://openalex.org/S2738402919","display_name":"Computation","issn_l":"2079-3197","issn":["2079-3197"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computation","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2079-3197/13/7/162/pdf?version=1751890713","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111748769","display_name":"Yangnian Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I22716506","display_name":"Lanzhou University of Technology","ror":"https://ror.org/03panb555","country_code":"CN","type":"education","lineage":["https://openalex.org/I22716506"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yukai Wu","raw_affiliation_strings":["School of Computer and Communication, Lanzhou University of Technology, Lanzhou 730050, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer and Communication, Lanzhou University of Technology, Lanzhou 730050, China","institution_ids":["https://openalex.org/I22716506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045950055","display_name":"Guobi Ling","orcid":"https://orcid.org/0000-0002-9637-9937"},"institutions":[{"id":"https://openalex.org/I22716506","display_name":"Lanzhou University of Technology","ror":"https://ror.org/03panb555","country_code":"CN","type":"education","lineage":["https://openalex.org/I22716506"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guobi Ling","raw_affiliation_strings":["College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou 730050, China"],"raw_orcid":"https://orcid.org/0000-0002-9637-9937","affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou 730050, China","institution_ids":["https://openalex.org/I22716506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061723439","display_name":"Yaoke Shi","orcid":"https://orcid.org/0000-0001-8533-3901"},"institutions":[{"id":"https://openalex.org/I22716506","display_name":"Lanzhou University of Technology","ror":"https://ror.org/03panb555","country_code":"CN","type":"education","lineage":["https://openalex.org/I22716506"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yaoke Shi","raw_affiliation_strings":["School of Computer and Communication, Lanzhou University of Technology, Lanzhou 730050, China"],"raw_orcid":"https://orcid.org/0000-0001-8533-3901","affiliations":[{"raw_affiliation_string":"School of Computer and Communication, Lanzhou University of Technology, Lanzhou 730050, China","institution_ids":["https://openalex.org/I22716506"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5061723439"],"corresponding_institution_ids":["https://openalex.org/I22716506"],"apc_list":{"value":1400,"currency":"CHF","value_usd":1515},"apc_paid":{"value":1400,"currency":"CHF","value_usd":1515},"fwci":1.0999,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.79012652,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"13","issue":"7","first_page":"162","last_page":"162"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9908000230789185,"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":0.9908000230789185,"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":0.9419000148773193,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9284999966621399,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.7564243078231812},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6740443706512451},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6337800025939941},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5488010048866272},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.5433287620544434},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5301711559295654},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.4632803797721863},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4498365521430969},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3878764510154724},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3504179120063782},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2676939368247986},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18514475226402283},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.07962259650230408},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.07602956891059875},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06799954175949097},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.06428903341293335},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.052635252475738525}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7564243078231812},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6740443706512451},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6337800025939941},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5488010048866272},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.5433287620544434},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5301711559295654},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.4632803797721863},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4498365521430969},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3878764510154724},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3504179120063782},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2676939368247986},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18514475226402283},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.07962259650230408},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.07602956891059875},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06799954175949097},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.06428903341293335},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.052635252475738525},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/computation13070162","is_oa":true,"landing_page_url":"https://doi.org/10.3390/computation13070162","pdf_url":"https://www.mdpi.com/2079-3197/13/7/162/pdf?version=1751890713","source":{"id":"https://openalex.org/S2738402919","display_name":"Computation","issn_l":"2079-3197","issn":["2079-3197"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computation","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:e1b29c78d19a4de78b1a824f9248e4bf","is_oa":true,"landing_page_url":"https://doaj.org/article/e1b29c78d19a4de78b1a824f9248e4bf","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Computation, Vol 13, Iss 7, p 162 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/computation13070162","is_oa":true,"landing_page_url":"https://doi.org/10.3390/computation13070162","pdf_url":"https://www.mdpi.com/2079-3197/13/7/162/pdf?version=1751890713","source":{"id":"https://openalex.org/S2738402919","display_name":"Computation","issn_l":"2079-3197","issn":["2079-3197"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computation","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4412087967.pdf","grobid_xml":"https://content.openalex.org/works/W4412087967.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4360995134","https://openalex.org/W4248382324","https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W4309225183","https://openalex.org/W2157008402"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,41,54,60],"composite":[4,62],"disturbance-tolerant":[5],"control":[6,123,206],"framework":[7,207],"for":[8],"quadrotor":[9],"unmanned":[10],"aerial":[11],"vehicles":[12],"(UAVs).":[13],"By":[14],"constructing":[15],"an":[16],"enhanced":[17],"dynamic":[18],"model":[19],"that":[20,128,188],"incorporates":[21],"parameter":[22],"uncertainties,":[23,197],"external":[24,99],"disturbances,":[25],"and":[26,29,34,58,73,101,112,121,141,157,168,202],"actuator":[27,102],"faults":[28],"considering":[30],"the":[31,39,67,77,80,84,95,104,129,134,161,169,177,186,189,199,205],"inherent":[32],"underactuated":[33],"highly":[35],"coupled":[36],"characteristics":[37],"of":[38,70,83,98,138,204],"UAV,":[40],"novel":[42],"robust":[43],"adaptive":[44,56,63,131],"sliding":[45],"mode":[46],"controller":[47,52],"(RASMC)":[48],"is":[49,87],"designed.":[50],"The":[51],"adopts":[53],"hierarchical":[55],"mechanism":[57],"utilizes":[59],"dual-loop":[61],"law":[64,132],"to":[65,155,180],"achieve":[66],"online":[68,136],"estimation":[69,137,148],"system":[71,86],"parameters":[72],"fault":[74],"information.":[75],"Using":[76],"Lyapunov":[78],"method,":[79],"asymptotic":[81],"stability":[82],"closed-loop":[85],"rigorously":[88],"proven.":[89],"Simulation":[90],"results":[91],"demonstrate":[92],"that,":[93],"under":[94,195],"combined":[96],"effects":[97],"disturbances":[100],"faults,":[103],"RASMC":[105,159],"effectively":[106],"suppresses":[107],"position":[108],"errors":[109,114,149],"(<0.05":[110],"m)":[111],"attitude":[113],"(<0.02":[115],"radians),":[116],"significantly":[117],"outperforming":[118],"traditional":[119],"ADRC":[120,156],"LQR":[122],"methods.":[124],"Further":[125],"analysis":[126],"shows":[127],"proposed":[130],"enables":[133],"precise":[135],"aerodynamic":[139],"coefficients":[140],"disturbance":[142],"boundaries":[143],"during":[144],"actual":[145],"flights,":[146],"with":[147],"controlled":[150],"within":[151],"\u00b110%.":[152],"Moreover,":[153],"compared":[154],"LQR,":[158],"reduces":[160],"settling":[162],"time":[163],"by":[164,172],"more":[165],"than":[166],"50%":[167],"tracking":[170,194],"overshoot":[171],"over":[173],"70%":[174],"while":[175],"using":[176],"(tanh(\u00b7))":[178],"approximation":[179],"eliminate":[181],"chattering.":[182],"Prototype":[183],"experiments":[184],"validate":[185],"fact":[187],"method":[190],"achieves":[191],"centimeter-level":[192],"trajectory":[193],"real":[196],"demonstrating":[198],"superior":[200],"performance":[201],"robustness":[203],"in":[208],"complex":[209],"flight":[210],"missions.":[211]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}