{"id":"https://openalex.org/W4415138216","doi":"https://doi.org/10.3390/sym17101720","title":"Adaptive Integral Sliding Mode Control for Symmetric UAV with Mismatched Disturbances Based on an Improved Recurrent Neural Network","display_name":"Adaptive Integral Sliding Mode Control for Symmetric UAV with Mismatched Disturbances Based on an Improved Recurrent Neural Network","publication_year":2025,"publication_date":"2025-10-13","ids":{"openalex":"https://openalex.org/W4415138216","doi":"https://doi.org/10.3390/sym17101720"},"language":"en","primary_location":{"id":"doi:10.3390/sym17101720","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym17101720","pdf_url":"https://www.mdpi.com/2073-8994/17/10/1720/pdf?version=1760362996","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"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2073-8994/17/10/1720/pdf?version=1760362996","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072426952","display_name":"Shanping Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shanping Wang","raw_affiliation_strings":["School of Electrical Engineering, Shandong Huayu University of Technology, Dezhou 253000, China"],"raw_orcid":"https://orcid.org/0009-0008-6461-6388","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Shandong Huayu University of Technology, Dezhou 253000, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043328899","display_name":"Haicheng Wan","orcid":"https://orcid.org/0009-0008-3850-3347"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Haicheng Wan","raw_affiliation_strings":["School of Electrical Engineering, Shandong Huayu University of Technology, Dezhou 253000, China"],"raw_orcid":"https://orcid.org/0009-0008-3850-3347","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Shandong Huayu University of Technology, Dezhou 253000, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100338637","display_name":"Ping Wang","orcid":"https://orcid.org/0000-0002-1848-1565"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ping Wang","raw_affiliation_strings":["School of Electrical Engineering, Shandong Huayu University of Technology, Dezhou 253000, China"],"raw_orcid":"https://orcid.org/0000-0002-1848-1565","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Shandong Huayu University of Technology, Dezhou 253000, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045541423","display_name":"W. Li","orcid":"https://orcid.org/0009-0003-7178-800X"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Wendong Li","raw_affiliation_strings":["School of Electrical Engineering, Shandong Huayu University of Technology, Dezhou 253000, China"],"raw_orcid":"https://orcid.org/0009-0003-7178-800X","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Shandong Huayu University of Technology, Dezhou 253000, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5045541423"],"corresponding_institution_ids":[],"apc_list":{"value":2000,"currency":"CHF","value_usd":2165},"apc_paid":{"value":2000,"currency":"CHF","value_usd":2165},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.31637121,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"17","issue":"10","first_page":"1720","last_page":"1720"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.996399998664856,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9871000051498413,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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":0.8058000206947327},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6229000091552734},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.621999979019165},{"id":"https://openalex.org/keywords/recurrent-neural-network","display_name":"Recurrent neural network","score":0.5054000020027161},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.49390000104904175},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4749000072479248},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4717000126838684},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.4672999978065491},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4487000107765198},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4447000026702881}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8058000206947327},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6559000015258789},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6229000091552734},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.621999979019165},{"id":"https://openalex.org/C147168706","wikidata":"https://www.wikidata.org/wiki/Q1457734","display_name":"Recurrent neural network","level":3,"score":0.5054000020027161},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.49390000104904175},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4749000072479248},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4717000126838684},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.4672999978065491},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4487000107765198},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4447000026702881},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.44350001215934753},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4359000027179718},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.4350999891757965},{"id":"https://openalex.org/C2778132902","wikidata":"https://www.wikidata.org/wiki/Q6042725","display_name":"Integral sliding mode","level":4,"score":0.4099000096321106},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4016000032424927},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3971000015735626},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.3878999948501587},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.3772999942302704},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.37059998512268066},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.3452000021934509},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34369999170303345},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.32820001244544983},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.32339999079704285},{"id":"https://openalex.org/C121047784","wikidata":"https://www.wikidata.org/wiki/Q7623607","display_name":"Strict-feedback form","level":5,"score":0.3012999892234802},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.29019999504089355},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26589998602867126},{"id":"https://openalex.org/C57869625","wikidata":"https://www.wikidata.org/wiki/Q1783502","display_name":"Rate of convergence","level":3,"score":0.2648000121116638},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.2635999917984009},{"id":"https://openalex.org/C185109637","wikidata":"https://www.wikidata.org/wiki/Q7915740","display_name":"Variable structure control","level":4,"score":0.262800008058548}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3390/sym17101720","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym17101720","pdf_url":"https://www.mdpi.com/2073-8994/17/10/1720/pdf?version=1760362996","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"}],"best_oa_location":{"id":"doi:10.3390/sym17101720","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym17101720","pdf_url":"https://www.mdpi.com/2073-8994/17/10/1720/pdf?version=1760362996","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4415138216.pdf","grobid_xml":"https://content.openalex.org/works/W4415138216.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W1965585748","https://openalex.org/W1988837728","https://openalex.org/W2032198200","https://openalex.org/W2073887133","https://openalex.org/W2131417107","https://openalex.org/W2594498399","https://openalex.org/W2773360978","https://openalex.org/W3135158397","https://openalex.org/W3153479947","https://openalex.org/W4389469604","https://openalex.org/W4391234115","https://openalex.org/W4391564352","https://openalex.org/W4392066379","https://openalex.org/W4392567285","https://openalex.org/W4396909858","https://openalex.org/W4397002053","https://openalex.org/W4400105478","https://openalex.org/W4400642298","https://openalex.org/W4400918367","https://openalex.org/W4402675896","https://openalex.org/W4402726601","https://openalex.org/W4404238055","https://openalex.org/W4406363758","https://openalex.org/W4406935076","https://openalex.org/W4407373489","https://openalex.org/W4411098111","https://openalex.org/W4413757654"],"related_works":[],"abstract_inverted_index":{"This":[0],"study":[1],"proposes":[2],"a":[3,25,33,60],"sliding-mode-based":[4],"adaptive":[5],"control":[6,44,144],"framework":[7],"for":[8],"symmetric":[9],"quad-rotor":[10,56,143],"altitude":[11],"and":[12,18,90,97,100,126],"attitude":[13],"tracking":[14,124],"under":[15],"parametric":[16],"uncertainties":[17],"mismatched":[19,23],"disturbances.":[20],"To":[21],"address":[22],"disturbances,":[24],"finite-time":[26,120],"disturbance":[27],"observer":[28],"(DO)":[29],"is":[30],"integrated":[31],"into":[32],"high-order":[34],"terminal":[35],"sliding":[36,42],"mode":[37,43],"manifold":[38],"design.":[39],"While":[40],"conventional":[41],"suffers":[45],"from":[46],"dependence":[47],"on":[48],"precise":[49],"dynamic":[50],"models":[51],"that":[52,132],"are":[53,115],"unavailable":[54],"in":[55],"applications,":[57],"we":[58],"devise":[59],"fully":[61],"connected":[62],"double":[63,81],"hidden":[64,82],"layer":[65,83],"recurrent":[66],"neural":[67],"network":[68],"(FCDHRNN)":[69],"with":[70,140],"full":[71],"interlayer":[72],"feedback":[73],"to":[74,85,118],"approximate":[75],"unmodeled":[76],"dynamics.":[77],"The":[78],"structure":[79,93],"uses":[80,101],"connections":[84],"strengthen":[86],"the":[87,105,133,141],"approximation":[88],"ability,":[89],"its":[91],"double-layer":[92],"achieves":[94],"higher":[95],"accuracy":[96],"generalization":[98],"ability":[99],"fewer":[102],"neurons":[103],"than":[104],"single-hidden-layer":[106],"network.":[107],"Through":[108],"Lyapunov":[109],"stability":[110],"analysis,":[111],"weight":[112],"adaptation":[113],"laws":[114],"rigorously":[116],"derived":[117],"guarantee":[119],"convergence":[121],"of":[122],"both":[123],"errors":[125],"estimation":[127],"residuals.":[128],"Simulation":[129],"results":[130],"show":[131],"proposed":[134],"scheme":[135],"has":[136],"superior":[137],"performance":[138],"compared":[139],"existing":[142],"scheme.":[145]},"counts_by_year":[],"updated_date":"2026-06-15T08:34:33.830935","created_date":"2025-10-14T00:00:00"}