{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,9]],"date-time":"2026-05-09T09:22:34Z","timestamp":1778318554549,"version":"3.51.4"},"reference-count":27,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2013,2,24]],"date-time":"2013-02-24T00:00:00Z","timestamp":1361664000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2013,10]]},"DOI":"10.1007\/s10846-013-9813-y","type":"journal-article","created":{"date-parts":[[2013,2,23]],"date-time":"2013-02-23T07:37:23Z","timestamp":1361605043000},"page":"105-122","source":"Crossref","is-referenced-by-count":72,"title":["Adaptive Nonlinear Stabilization Control for a Quadrotor UAV: Theory, Simulation and Experimentation"],"prefix":"10.1007","volume":"72","author":[{"given":"Mostafa","family":"Mohammadi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alireza Mohammad","family":"Shahri","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2013,2,24]]},"reference":[{"issue":"1\u20132","key":"9813_CR1","doi-asserted-by":"crossref","first-page":"127","DOI":"10.1007\/s10846-009-9331-0","volume":"56","author":"A Das","year":"2009","unstructured":"Das, A., Lewis, F., Subbaro, K.: Backstepping approach for controlling a quadrotor using lagrange form dynamics. J. Intell. Robot. Syst. 56(1\u20132), 127\u2013151 (2009). doi: 10.1007\/s10846-009-9331-0","journal-title":"J. Intell. Robot. Syst."},{"issue":"1","key":"9813_CR2","doi-asserted-by":"crossref","first-page":"19","DOI":"10.1080\/00051144.2010.11828352","volume":"51","author":"M Orsag","year":"2010","unstructured":"Orsag, M., Poropat, M. Bogdan, S.: Hybrid fly-by-wire quadrotor controller. Automatika 51(1), 19\u201332 (2010)","journal-title":"Automatika"},{"issue":"4","key":"9813_CR3","doi-asserted-by":"crossref","first-page":"510","DOI":"10.1109\/TCST.2004.825052","volume":"12","author":"P Castillo","year":"2004","unstructured":"Castillo, P., Dzul, A., Lozano, R.: Real-time stabilization and tracking of a four-rotor mini rotorcraft. IEEE Trans. Control Syst. Technol. 12(4), 510\u2013516 (2004). doi: 10.1109\/TCST.2004.825052","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"9813_CR4","doi-asserted-by":"crossref","unstructured":"Madani, T., Benallegue, A.: Adaptive control via backstepping technique and neural networks of a quadrotor helicopter. In: Proceedings of the 17th World Congress the International Federation of Automatic Control, pp.\u00a06513\u20136518. Seoul, Korea (2008)","DOI":"10.3182\/20080706-5-KR-1001.01098"},{"key":"9813_CR5","first-page":"2076","volume-title":"Proceedings of American Control Conference","author":"M Huang","year":"2010","unstructured":"Huang, M., Xian, B., Diao, C., Yang, K., Feng, Y.: Adaptive tracking control of underactuated quadrotor unmanned aerial vehicles via backstepping. In: Proceedings of American Control Conference, pp.\u00a02076\u20132081. Marriott Waterfront, Baltimore, MD, USA (2010)"},{"key":"9813_CR6","doi-asserted-by":"crossref","unstructured":"Michini, B., How, J.: L1 adaptive control for indoor autonomous vehicles: design process and flight testing. In: Proceeding of AIAA Guidance, Navigation, and Control Conference, pp.\u00a05754\u20135768. Chicago, Illinois (2009)","DOI":"10.2514\/6.2009-5754"},{"issue":"1","key":"9813_CR7","doi-asserted-by":"crossref","first-page":"50","DOI":"10.1109\/TNN.2009.2034145","volume":"21","author":"T Dierks","year":"2010","unstructured":"Dierks, T., jagannathan, S.: Output feedback control of a quadrotor uav using neural networks. IEEE Trans. Neural Netw. 21(1), 50\u201366 (2010)","journal-title":"IEEE Trans. Neural Netw."},{"issue":"6","key":"9813_CR8","doi-asserted-by":"crossref","first-page":"927","DOI":"10.1016\/j.mechatronics.2011.02.007","volume":"21","author":"C Nicol","year":"2011","unstructured":"Nicol, C., Macnab, C.J.B., Ramirez-Serrano, A.: Robust adaptive control of a quadrotor helicopter. J. Mechatronics 21(6), 927\u2013938 (2011)","journal-title":"J. Mechatronics"},{"key":"9813_CR9","doi-asserted-by":"crossref","first-page":"553","DOI":"10.1016\/j.asoc.2008.08.007","volume":"9","author":"K Zemalache","year":"2009","unstructured":"Zemalache, K., Maaref, H.: Controlling a drone: Comparison between a based model method and a fuzzy inference system. Appl. Soft Comput. 9, 553\u2013562 (2009). doi: 10.1016\/j.asoc.2008.08.007","journal-title":"Appl. Soft Comput."},{"key":"9813_CR10","doi-asserted-by":"crossref","first-page":"29","DOI":"10.1016\/j.automatica.2009.10.018","volume":"46","author":"G Raffo","year":"2010","unstructured":"Raffo, G., Ortega, M., Rubio, F.: An integral predictive\/nonlinear H\u2009\u221e\u2009 control structure for a quadrotor helicopter. Automatica 46, 29\u201339 (2010). doi: 10.1016\/j.automatica.2009.10.018","journal-title":"Automatica"},{"issue":"3","key":"9813_CR11","first-page":"204","volume":"14","author":"G Mhammed","year":"2009","unstructured":"Mhammed, G., Hicham, M.: A high gain observer and sliding mode controller for an autonomous quadrotor helicopter. Int. J. Intell. Control Syst. 14(3), 204\u2013212 (2009)","journal-title":"Int. J. Intell. Control Syst."},{"key":"9813_CR12","doi-asserted-by":"crossref","first-page":"303","DOI":"10.1049\/iet-cta:20080002","volume":"3","author":"A Das","year":"2009","unstructured":"Das, A., Lewis, F., Subbaro, K.: Dynamic inversion with zero-dynamics stabilisation for Quadrotor control. IET Control Theory Appl. 3, 303\u2013314 (2009). doi: 10.1049\/iet-cta:20080002","journal-title":"IET Control Theory Appl."},{"issue":"3","key":"9813_CR13","doi-asserted-by":"crossref","first-page":"419","DOI":"10.1007\/s12555-009-0311-8","volume":"7","author":"D Lee","year":"2009","unstructured":"Lee, D., Kim, H., Sastry, S.: Feedback linearization vs. adaptive sliding mode control for a quadrotor helicopter. Int. J. Control Autom. 7(3),419\u2013428 (2009). doi: 10.1007\/s12555-009-0311-8","journal-title":"Int. J. Control Autom."},{"issue":"4\u20135","key":"9813_CR14","doi-asserted-by":"crossref","first-page":"427","DOI":"10.1002\/rnc.1225","volume":"18","author":"A Benallegue","year":"2008","unstructured":"Benallegue, A., Mokhtari, A., Fridman, L.: High-order sliding-mode observer for a quadrotor UAV. Int. J. Robust Nonlinear Control 18(4\u20135), 427\u2013440 (2008). doi: 10.1002\/rnc.1225","journal-title":"Int. J. Robust Nonlinear Control"},{"issue":"9","key":"9813_CR15","doi-asserted-by":"crossref","first-page":"1140","DOI":"10.1049\/iet-cta.2010.0273","volume":"5","author":"R Zhang","year":"2011","unstructured":"Zhang, R., Quan, Q., Cai, K.Y.: Attitude control of a quadrotor aircraft subject to a class of time-varying disturbances. IET Control Theory Appl. 5(9), 1140\u20131146 (2011). doi: 10.1049\/iet-cta.2010.0273","journal-title":"IET Control Theory Appl."},{"issue":"2","key":"9813_CR16","doi-asserted-by":"crossref","first-page":"354","DOI":"10.1109\/TII.2011.2123906","volume":"7","author":"M\u00d6 Efe","year":"2011","unstructured":"Efe, M.\u00d6.: Neural network assisted computationally simple PID control of a quadrotor UAV. IEEE Trans. Ind. Informat. 7(2), 354\u2013361 (2011). doi: 10.1109\/TII.2011.2123906","journal-title":"IEEE Trans. Ind. Informat."},{"issue":"4","key":"9813_CR17","doi-asserted-by":"crossref","first-page":"647","DOI":"10.1049\/iet-cta.2010.0205","volume":"5","author":"JM Cano","year":"2011","unstructured":"Cano, J.M., Lo\u2019 pez-Mart\u2019nez, M., Rubio, F.R.: Asynchronous networked control of linear systems via L2-gain-based transformations: analysis and synthesis. IET Control Theory Appl. 5(4), 647\u2013654 (2011). doi: 10.1049\/iet-cta.2010.0205","journal-title":"IET Control Theory Appl."},{"issue":"2","key":"9813_CR18","doi-asserted-by":"crossref","first-page":"242","DOI":"10.1080\/00207179.2010.549842","volume":"84","author":"F Fahimi","year":"2011","unstructured":"Fahimi, F, Saffarian, M.: The control point concept for nonlinear trajectory-tracking control of autonomous helicopters with fly-bar. Int. J. Control 84(2), 242\u2013252 (2011). doi: 10.1080\/00207179.2010.549842","journal-title":"Int. J. Control"},{"issue":"2","key":"9813_CR19","doi-asserted-by":"crossref","first-page":"331","DOI":"10.1109\/TRO.2008.916666","volume":"24","author":"N Guenard","year":"2008","unstructured":"Guenard, N., Hamel, T., Mahony, R.: A practical visual servo control for an unmanned aerial vehicle. IEEE Trans. Robot. 24(2), 331\u2013340 (2008). doi: 10.1109\/TRO.2008.916666","journal-title":"IEEE Trans. Robot."},{"key":"9813_CR20","doi-asserted-by":"crossref","first-page":"35","DOI":"10.1115\/1.2807085","volume":"130","author":"R Mahony","year":"2008","unstructured":"Mahony, R., Corke, P., Hamel, T.: Dynamic image-based visual servo control using centroid and optic flow features. J. Dyn. Syst. Meas. Control. 130, 35\u201346 (2008). doi: 10.1115\/1.2807085","journal-title":"J. Dyn. Syst. Meas. Control."},{"issue":"3","key":"9813_CR21","doi-asserted-by":"crossref","first-page":"743","DOI":"10.1109\/TRO.2008.2011419","volume":"25","author":"O Bourquardez","year":"2009","unstructured":"Bourquardez, O., Mahony, R., Guenard, N., Chaumette, F., Hamel, T., Eck, L.: Image-based visual servo control of the translation kinematics of a quadrotor aerial vehicle. IEEE Trans. Robot. 25(3), 743\u2013749 (2009). doi: 10.1109\/TRO.2008.2011419","journal-title":"IEEE Trans. Robot."},{"issue":"1\u20134","key":"9813_CR22","doi-asserted-by":"crossref","first-page":"103","DOI":"10.1007\/s10846-010-9472-1","volume":"61","author":"LR Garca Carrillo","year":"2011","unstructured":"Garca Carrillo, L.R., Rondon, E., Sanchez, A., Dzul, A., Lozano, R.: Stabilization and trajectory tracking of a quadrotor using vision. J. Intell. Robot. Syst. 61(1\u20134), 103\u2013118 (2011). doi: 10.1007\/s10846-010-9472-1","journal-title":"J. Intell. Robot. Syst."},{"issue":"1\u20134","key":"9813_CR23","doi-asserted-by":"crossref","first-page":"495","DOI":"10.1007\/s10846-010-9494-8","volume":"61","author":"D Eberli","year":"2011","unstructured":"Eberli, D., Scaramuzza, D., Weiss, S., Siegwart, R.: Vision based position control for mavs using one single circular landmark. J. Intell. Robot. Syst. 61(1\u20134), 495\u2013512 (2011). doi: 10.1007\/s10846-010-9494-8","journal-title":"J. Intell. Robot. Syst."},{"issue":"3\u20134","key":"9813_CR24","doi-asserted-by":"crossref","first-page":"587","DOI":"10.1007\/s10846-010-9459-y","volume":"62","author":"M Tarhan","year":"2011","unstructured":"Tarhan, M., Altug, E.: EKF based attitude estimation and stabilizationof a quadrotor uav using vanishing points in catadioptric images. J. Intell. Robot. Syst. 62(3\u20134), 587\u2013607 (2011). doi: 10.1007\/s10846-010-9459-y","journal-title":"J. Intell. Robot. Syst."},{"issue":"2","key":"9813_CR25","doi-asserted-by":"crossref","first-page":"183","DOI":"10.1109\/70.88039","volume":"5","author":"H Seraji","year":"1989","unstructured":"Seraji, H.: Decentralized adaptive control of manipulators: theory, simulation, and experimentation. IEEE Trans. Robot. Autom. 5(2), 183\u2013201 (1989)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"9813_CR26","unstructured":"Bouabdallah, S.: Design and control of quadrotor with application to autonomous flying. Unpublished Doctoral Dissertation, pp.\u00a015\u201325. EPFL University, Lausanne (2007)"},{"key":"9813_CR27","volume-title":"Robot Analysis and Control","author":"H Asada","year":"1986","unstructured":"Asada, H., Slotine, J.: Robot Analysis and Control. Wiley, New York (1986)"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-013-9813-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-013-9813-y\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-013-9813-y","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,7,9]],"date-time":"2019-07-09T22:03:28Z","timestamp":1562709808000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-013-9813-y"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,2,24]]},"references-count":27,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2013,10]]}},"alternative-id":["9813"],"URL":"https:\/\/doi.org\/10.1007\/s10846-013-9813-y","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,2,24]]}}}