{"id":"https://openalex.org/W4214774679","doi":"https://doi.org/10.3390/sym14030498","title":"Adaptive Sliding Mode Attitude Control of Quadrotor UAVs Based on the Delta Operator Framework","display_name":"Adaptive Sliding Mode Attitude Control of Quadrotor UAVs Based on the Delta Operator Framework","publication_year":2022,"publication_date":"2022-02-28","ids":{"openalex":"https://openalex.org/W4214774679","doi":"https://doi.org/10.3390/sym14030498"},"language":"en","primary_location":{"id":"doi:10.3390/sym14030498","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym14030498","pdf_url":"https://www.mdpi.com/2073-8994/14/3/498/pdf?version=1646057106","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"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":"Symmetry","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2073-8994/14/3/498/pdf?version=1646057106","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074697668","display_name":"Bo\u2010Chao Zheng","orcid":"https://orcid.org/0000-0001-6142-6580"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bochao Zheng","raw_affiliation_strings":["CICAEET, School of Automation, Nanjing University of Information Science and Technology, Nanjing 210044, China"],"raw_orcid":"https://orcid.org/0000-0001-6142-6580","affiliations":[{"raw_affiliation_string":"CICAEET, School of Automation, Nanjing University of Information Science and Technology, Nanjing 210044, China","institution_ids":["https://openalex.org/I200845125"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017383055","display_name":"Yuewen Wu","orcid":"https://orcid.org/0000-0002-1323-2455"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuewen Wu","raw_affiliation_strings":["CICAEET, School of Automation, Nanjing University of Information Science and Technology, Nanjing 210044, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CICAEET, School of Automation, Nanjing University of Information Science and Technology, Nanjing 210044, China","institution_ids":["https://openalex.org/I200845125"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100664491","display_name":"Hui Li","orcid":"https://orcid.org/0000-0001-5260-6264"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Li","raw_affiliation_strings":["CICAEET, School of Automation, Nanjing University of Information Science and Technology, Nanjing 210044, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CICAEET, School of Automation, Nanjing University of Information Science and Technology, Nanjing 210044, China","institution_ids":["https://openalex.org/I200845125"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100325082","display_name":"Zhipeng Chen","orcid":"https://orcid.org/0000-0002-5890-3072"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhipeng Chen","raw_affiliation_strings":["CICAEET, School of Automation, Nanjing University of Information Science and Technology, Nanjing 210044, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CICAEET, School of Automation, Nanjing University of Information Science and Technology, Nanjing 210044, China","institution_ids":["https://openalex.org/I200845125"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5074697668"],"corresponding_institution_ids":["https://openalex.org/I200845125"],"apc_list":{"value":2000,"currency":"CHF","value_usd":2165},"apc_paid":{"value":2000,"currency":"CHF","value_usd":2165},"fwci":2.0628,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.86104399,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"14","issue":"3","first_page":"498","last_page":"498"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9954000115394592,"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":0.8199167251586914},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6085100173950195},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.6051429510116577},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5569945573806763},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5385400652885437},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5069880485534668},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.4663623571395874},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4492819607257843},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4270744323730469},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4106951355934143},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3895408809185028},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3412361741065979},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2905545234680176},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20928558707237244},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18059206008911133},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1470949947834015},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07332608103752136}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8199167251586914},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6085100173950195},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.6051429510116577},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5569945573806763},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5385400652885437},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5069880485534668},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.4663623571395874},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4492819607257843},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4270744323730469},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4106951355934143},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3895408809185028},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3412361741065979},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2905545234680176},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20928558707237244},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18059206008911133},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1470949947834015},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07332608103752136},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/sym14030498","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym14030498","pdf_url":"https://www.mdpi.com/2073-8994/14/3/498/pdf?version=1646057106","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"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":"Symmetry","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:ed84288461334322908f97f03fa95dab","is_oa":true,"landing_page_url":"https://doaj.org/article/ed84288461334322908f97f03fa95dab","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":"Symmetry, Vol 14, Iss 3, p 498 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2073-8994/14/3/498/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/sym14030498","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":"Symmetry; Volume 14; Issue 3; Pages: 498","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/sym14030498","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym14030498","pdf_url":"https://www.mdpi.com/2073-8994/14/3/498/pdf?version=1646057106","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"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":"Symmetry","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.44999998807907104}],"awards":[{"id":"https://openalex.org/G2917365531","display_name":null,"funder_award_id":"61973169","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3806340692","display_name":null,"funder_award_id":"BK20201392","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4214774679.pdf","grobid_xml":"https://content.openalex.org/works/W4214774679.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W1772033570","https://openalex.org/W1886386547","https://openalex.org/W1986045690","https://openalex.org/W2060653543","https://openalex.org/W2101871514","https://openalex.org/W2154993399","https://openalex.org/W2267016244","https://openalex.org/W2736515742","https://openalex.org/W2737297693","https://openalex.org/W2760687290","https://openalex.org/W2947960366","https://openalex.org/W2976777045","https://openalex.org/W2982511989","https://openalex.org/W3002140363","https://openalex.org/W3038015625","https://openalex.org/W3041373200","https://openalex.org/W3045347666","https://openalex.org/W3108097941","https://openalex.org/W3129103987","https://openalex.org/W3132776463","https://openalex.org/W3184861631","https://openalex.org/W3187618210","https://openalex.org/W3201876542","https://openalex.org/W3210839039","https://openalex.org/W4206476463"],"related_works":["https://openalex.org/W2006251942","https://openalex.org/W2364741597","https://openalex.org/W1492103595","https://openalex.org/W1864774435","https://openalex.org/W946352265","https://openalex.org/W4230062420","https://openalex.org/W2951163365","https://openalex.org/W2110982267","https://openalex.org/W3097407274","https://openalex.org/W2334225311"],"abstract_inverted_index":{"In":[0],"this":[1,172],"paper,":[2],"a":[3,40,51,81,146],"novel":[4],"adaptive":[5,89,129,135],"sliding-mode":[6,90,130,136],"control":[7,14,37,67,117,131,137,144,168],"algorithm":[8,138,169],"is":[9,31,55,93,123],"proposed":[10,134,170],"for":[11],"the":[12,22,27,35,46,59,63,70,76,97,100,109,115,120,127,133,142,158,162,167],"attitude":[13,36,66,91,103,116,143],"of":[15,39,62,99,119,145,157,166],"quadrotor":[16,41,64,101,147],"unmanned":[17],"aerial":[18],"vehicles":[19],"(UAVs)":[20],"under":[21],"delta":[23,28],"operator":[24,29],"framework.":[25],"First,":[26],"technique":[30],"used":[32],"to":[33,57,150],"discretize":[34],"systems":[38,104],"UAV.":[42],"Then,":[43],"based":[44],"on":[45],"linear":[47,52],"matrix":[48],"inequality":[49],"technique,":[50],"sliding":[53,71,111],"surface":[54],"designed":[56,94],"ensure":[58],"asymptotical":[60],"stability":[61],"UAV":[65,102,122,148],"system":[68],"during":[69],"motion":[72],"process.":[73],"Second,":[74],"by":[75],"estimated":[77],"external":[78],"disturbance":[79],"using":[80],"radical":[82],"basis":[83],"function":[84],"(RBF)":[85],"neural":[86],"network,":[87],"an":[88],"controller":[92],"such":[95],"that":[96],"states":[98],"can":[105,139],"be":[106],"driven":[107],"towards":[108],"desired":[110],"surface,":[112],"and":[113,153,164],"thus":[114],"objective":[118],"qudarotor":[121],"achieved.":[124],"Compared":[125],"with":[126],"traditional":[128],"algorithm,":[132],"effectively":[140],"realize":[141],"subject":[149],"strong":[151],"disturbances":[152],"couplings.":[154],"Finally,":[155],"comparisons":[156],"simulation":[159],"results":[160],"verify":[161],"effectiveness":[163],"superiority":[165],"in":[171],"paper.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}