{"id":"https://openalex.org/W3015943805","doi":"https://doi.org/10.3390/robotics9020022","title":"Evaluation of Hunting-Based Optimizers for a Quadrotor Sliding Mode Flight Controller","display_name":"Evaluation of Hunting-Based Optimizers for a Quadrotor Sliding Mode Flight Controller","publication_year":2020,"publication_date":"2020-04-07","ids":{"openalex":"https://openalex.org/W3015943805","doi":"https://doi.org/10.3390/robotics9020022","mag":"3015943805"},"language":"en","primary_location":{"id":"doi:10.3390/robotics9020022","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics9020022","pdf_url":"https://www.mdpi.com/2218-6581/9/2/22/pdf?version=1587362440","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"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":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/9/2/22/pdf?version=1587362440","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042650124","display_name":"Josenalde Oliveira","orcid":"https://orcid.org/0000-0001-8297-9678"},"institutions":[{"id":"https://openalex.org/I35046152","display_name":"Universidade Federal do Rio Grande do Norte","ror":"https://ror.org/04wn09761","country_code":"BR","type":"education","lineage":["https://openalex.org/I35046152"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["BR","PT"],"is_corresponding":false,"raw_author_name":"Josenalde Oliveira","raw_affiliation_strings":["Agricultural School of Jundia\u00ed, Federal University of Rio Grande do Norte, UFRN, Maca\u00edba, RN 59280-000, Brazil","INESC TEC\u2014INESC Technology and Science, Campus da FEUP, 4200-465 Porto, Portugal"],"raw_orcid":"https://orcid.org/0000-0001-8297-9678","affiliations":[{"raw_affiliation_string":"Agricultural School of Jundia\u00ed, Federal University of Rio Grande do Norte, UFRN, Maca\u00edba, RN 59280-000, Brazil","institution_ids":["https://openalex.org/I35046152"]},{"raw_affiliation_string":"INESC TEC\u2014INESC Technology and Science, Campus da FEUP, 4200-465 Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004386406","display_name":"Paulo Moura Oliveira","orcid":"https://orcid.org/0000-0003-4283-1243"},"institutions":[{"id":"https://openalex.org/I155381812","display_name":"University of Tr\u00e1s-os-Montes and Alto Douro","ror":"https://ror.org/03qc8vh97","country_code":"PT","type":"education","lineage":["https://openalex.org/I155381812"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Paulo Moura Oliveira","raw_affiliation_strings":["INESC TEC\u2014INESC Technology and Science, Campus da FEUP, 4200-465 Porto, Portugal","University of Tr\u00e1s-os-Montes and Alto Douro, School of Sciences and Technology, 5000-801 Vila Real, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INESC TEC\u2014INESC Technology and Science, Campus da FEUP, 4200-465 Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"University of Tr\u00e1s-os-Montes and Alto Douro, School of Sciences and Technology, 5000-801 Vila Real, Portugal","institution_ids":["https://openalex.org/I155381812"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024946758","display_name":"Jos\u00e9 Boaventura\u2010Cunha","orcid":"https://orcid.org/0000-0002-8406-0064"},"institutions":[{"id":"https://openalex.org/I155381812","display_name":"University of Tr\u00e1s-os-Montes and Alto Douro","ror":"https://ror.org/03qc8vh97","country_code":"PT","type":"education","lineage":["https://openalex.org/I155381812"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Jos\u00e9 Boaventura-Cunha","raw_affiliation_strings":["INESC TEC\u2014INESC Technology and Science, Campus da FEUP, 4200-465 Porto, Portugal","University of Tr\u00e1s-os-Montes and Alto Douro, School of Sciences and Technology, 5000-801 Vila Real, Portugal"],"raw_orcid":"https://orcid.org/0000-0002-8406-0064","affiliations":[{"raw_affiliation_string":"INESC TEC\u2014INESC Technology and Science, Campus da FEUP, 4200-465 Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"University of Tr\u00e1s-os-Montes and Alto Douro, School of Sciences and Technology, 5000-801 Vila Real, Portugal","institution_ids":["https://openalex.org/I155381812"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024194443","display_name":"Tatiana M. Pinho","orcid":"https://orcid.org/0000-0002-1403-7221"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Tatiana Pinho","raw_affiliation_strings":["INESC TEC\u2014INESC Technology and Science, Campus da FEUP, 4200-465 Porto, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INESC TEC\u2014INESC Technology and Science, Campus da FEUP, 4200-465 Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5024194443"],"corresponding_institution_ids":["https://openalex.org/I4210166615"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.5958,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.66121712,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"9","issue":"2","first_page":"22","last_page":"22"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994000196456909,"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":0.9994000196456909,"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/T10100","display_name":"Metaheuristic Optimization Algorithms Research","score":0.9889000058174133,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11081","display_name":"Advanced Control Systems Design","score":0.9883000254631042,"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":0.7355327606201172},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.6505704522132874},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5405994057655334},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5378164052963257},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5177066326141357},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4677572250366211},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.462985634803772},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4177636504173279},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3926852345466614},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38282081484794617},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.29469066858291626},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2281346619129181},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19300103187561035}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7355327606201172},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.6505704522132874},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5405994057655334},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5378164052963257},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5177066326141357},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4677572250366211},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.462985634803772},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4177636504173279},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3926852345466614},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38282081484794617},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29469066858291626},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2281346619129181},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19300103187561035},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics9020022","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics9020022","pdf_url":"https://www.mdpi.com/2218-6581/9/2/22/pdf?version=1587362440","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"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":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:403f903edad74fec948abd3a744ce1d9","is_oa":true,"landing_page_url":"https://doaj.org/article/403f903edad74fec948abd3a744ce1d9","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 9, Iss 2, p 22 (2020)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/9/2/22/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/robotics9020022","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics9020022","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics9020022","pdf_url":"https://www.mdpi.com/2218-6581/9/2/22/pdf?version=1587362440","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"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":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3015943805.pdf","grobid_xml":"https://content.openalex.org/works/W3015943805.grobid-xml"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W1516289514","https://openalex.org/W1615129768","https://openalex.org/W1826421496","https://openalex.org/W2001979953","https://openalex.org/W2003688959","https://openalex.org/W2010002406","https://openalex.org/W2013399423","https://openalex.org/W2029644621","https://openalex.org/W2034088441","https://openalex.org/W2037933494","https://openalex.org/W2039791793","https://openalex.org/W2061438946","https://openalex.org/W2072955302","https://openalex.org/W2110023503","https://openalex.org/W2143346970","https://openalex.org/W2146178012","https://openalex.org/W2169245194","https://openalex.org/W2174096823","https://openalex.org/W2183361685","https://openalex.org/W2267016244","https://openalex.org/W2279496533","https://openalex.org/W2287324317","https://openalex.org/W2296662953","https://openalex.org/W2320665255","https://openalex.org/W2321616958","https://openalex.org/W2404539055","https://openalex.org/W2408790422","https://openalex.org/W2462623158","https://openalex.org/W2474225406","https://openalex.org/W2509918528","https://openalex.org/W2517405899","https://openalex.org/W2747498255","https://openalex.org/W2933176268","https://openalex.org/W2946364979","https://openalex.org/W2947159088","https://openalex.org/W4285719527","https://openalex.org/W6681579127","https://openalex.org/W6700564623","https://openalex.org/W6713595848"],"related_works":["https://openalex.org/W2996812256","https://openalex.org/W2525543468","https://openalex.org/W3041553740","https://openalex.org/W2026490863","https://openalex.org/W2366743900","https://openalex.org/W2389929639","https://openalex.org/W2369313712","https://openalex.org/W2380496977","https://openalex.org/W2351548249","https://openalex.org/W2099967431"],"abstract_inverted_index":{"The":[0,123],"design":[1,24,61],"of":[2,25,54,72,161,177,190],"Multi-Input":[3],"Multi-Output":[4],"nonlinear":[5,84],"control":[6,27,117],"systems":[7],"for":[8,69,102,164,196],"a":[9,13,62,77,83,192],"quadrotor":[10,78],"can":[11,20],"be":[12,99],"difficult":[14],"task.":[15],"Nature":[16],"inspired":[17,35],"optimization":[18],"techniques":[19,36,59],"greatly":[21],"improve":[22],"the":[23,38,44,52,108,113,141,173],"non-linear":[26],"systems.":[28],"Two":[29],"recently":[30],"proposed":[31],"hunting-based":[32,179],"swarm":[33],"intelligence":[34],"are":[37,136,150],"Grey":[39],"Wolf":[40],"Optimizer":[41,47],"(GWO)":[42],"and":[43,57,74,96,116,129,138,155,166],"Ant":[45],"Lion":[46],"(ALO).":[48],"This":[49,105],"paper":[50],"proposes":[51],"use":[53],"both":[55,127],"GWO":[56,128,154],"ALO":[58,156],"to":[60,94,140],"Sliding":[63],"Mode":[64],"Control":[65],"(SMC)":[66],"flight":[67,134],"system":[68],"tracking":[70,109,195],"improvement":[71],"altitude":[73],"attitude":[75],"in":[76,159,184],"dynamic":[79],"model.":[80],"SMC":[81],"is":[82,170],"technique":[85],"which":[86],"requires":[87,106],"that":[88,153,172],"its":[89],"strictly":[90],"coupled":[91],"parameters":[92],"related":[93],"continuous":[95],"discontinuous":[97],"components":[98],"correctly":[100],"adjusted":[101],"proper":[103],"operation.":[104],"minimizing":[107],"error":[110],"while":[111],"keeping":[112],"chattering":[114],"effect":[115],"signal":[118],"magnitude":[119],"within":[120],"suitable":[121],"limits.":[122],"performance":[124],"achieved":[125],"with":[126],"ALO,":[130],"considering":[131],"realistic":[132],"disturbed":[133,167],"scenarios":[135],"presented":[137,151],"compared":[139],"classical":[142],"Particle":[143],"Swarm":[144],"Optimization":[145],"(PSO)":[146],"algorithm.":[147],"Simulated":[148],"results":[149],"showing":[152],"outperformed":[157],"PSO":[158],"terms":[160],"precise":[162,194],"tracking,":[163],"ideal":[165],"conditions.":[168],"It":[169],"shown":[171],"higher":[174],"stochastic":[175],"nature":[176],"these":[178],"algorithms":[180],"provided":[181],"more":[182,193],"confidence":[183],"local":[185],"optima":[186],"avoidance,":[187],"suggesting":[188],"feasibility":[189],"getting":[191],"practical":[197],"use.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-13T07:54:00.901334","created_date":"2025-10-10T00:00:00"}