{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,22]],"date-time":"2026-04-22T02:33:04Z","timestamp":1776825184750,"version":"3.51.2"},"reference-count":43,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2025,12,29]],"date-time":"2025-12-29T00:00:00Z","timestamp":1766966400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"},{"start":{"date-parts":[[2026,1,20]],"date-time":"2026-01-20T00:00:00Z","timestamp":1768867200000},"content-version":"vor","delay-in-days":22,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"DOI":"10.1007\/s10846-025-02347-9","type":"journal-article","created":{"date-parts":[[2025,12,29]],"date-time":"2025-12-29T02:53:28Z","timestamp":1766976808000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Barrier Function-Based Adaptive Super-Twisting Sliding Mode Control of Ducted-Fan Quadrotors"],"prefix":"10.1007","volume":"112","author":[{"given":"Mohammadhossein","family":"Ahmadi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Farhad","family":"Bayat","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mahdi","family":"Khodabandeh","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Afef","family":"Fekih","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,12,29]]},"reference":[{"key":"2347_CR1","first-page":"245","volume":"1","author":"SA Raza","year":"2010","unstructured":"Raza, S.A., Gueaieb, W.: Intelligent flight control of an autonomous quadrotor. Motion Control 1, 245\u2013264 (2010)","journal-title":"Motion Control"},{"issue":"1","key":"2347_CR2","first-page":"133","volume":"8","author":"M Jafari","year":"2014","unstructured":"Jafari, M., Afshin, H., Farhanieh, B., Bozorgasareh, H.: Numerical aerodynamic evaluation and noise investigation of a bladeless fan. J. Appl. Fluid Mech. 8(1), 133\u2013142 (2014)","journal-title":"J. Appl. Fluid Mech."},{"issue":"7","key":"2347_CR3","doi-asserted-by":"publisher","first-page":"296","DOI":"10.3390\/drones8070296","volume":"8","author":"D Caballero-Martin","year":"2024","unstructured":"Caballero-Martin, D., Lopez-Guede, J.M., Estevez, J.M., Gra\u00f1a, M.: Artificial intelligence applied to drone control: A state of the art. Drones 8(7), 296 (2024)","journal-title":"Drones"},{"key":"2347_CR4","unstructured":"Fawzy, H., Elbrawy, A., Amr, M., Eltanekhy, O., Khatab, E., Shalash, O.: A systematic review: computer vision algorithms in drone surveillance. J. Robot. Integration 2(1) (2025)"},{"key":"2347_CR5","doi-asserted-by":"crossref","unstructured":"Li, Y., Song, S.: A survey of control algorithms for quadrotor unmanned helicopter. In 2012 IEEE fifth international conference on advanced computational intelligence (ICACI), IEEE, pp. 365\u2013369. (2012)","DOI":"10.1109\/ICACI.2012.6463187"},{"issue":"2","key":"2347_CR6","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-021-01527-7","volume":"104","author":"M Idrissi","year":"2022","unstructured":"Idrissi, M., Salami, M., Annaz, F.: A review of quadrotor unmanned aerial vehicles: applications, architectural design and control algorithms J. . Intell. Robot. Syst. 104(2), 22 (2022)","journal-title":". Intell. Robot. Syst."},{"issue":"11","key":"2347_CR7","doi-asserted-by":"publisher","first-page":"3349","DOI":"10.3390\/s24113349","volume":"24","author":"J Peksa","year":"2024","unstructured":"Peksa, J., Mamchur, D.: A review on the state of the art in copter drones and flight control systems. Sensors 24(11), 3349 (2024)","journal-title":"Sensors"},{"key":"2347_CR8","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijft.2022.100174","volume":"15","author":"D Ravi","year":"2022","unstructured":"Ravi, D., Rajagopal, T.K.R.: Numerical investigation on the effect of geometric shape and outlet angle of a bladeless fan for flow optimization using CFD techniques. Int. J. Thermofluids 15, 100174 (2022)","journal-title":"Int. J. Thermofluids"},{"key":"2347_CR9","unstructured":"E. K. B. Choo, \u201cDesign of Ducted-fan-Light Fan,\u201d Tunku Abdul Rahman University College, 2012."},{"issue":"97","key":"2347_CR10","doi-asserted-by":"publisher","first-page":"501","DOI":"10.1016\/j.apm.2021.04.010","volume":"1","author":"X Shao","year":"2021","unstructured":"Shao, X., Zhang, W., Zhang, W.: Improved prescribed performance anti-disturbance control for quadrotors. Appl. Math. Model. 1(97), 501\u2013521 (2021)","journal-title":"Appl. Math. Model."},{"issue":"3","key":"2347_CR11","doi-asserted-by":"publisher","first-page":"261","DOI":"10.1016\/S1000-9361(08)60034-5","volume":"21","author":"AA Mian","year":"2008","unstructured":"Mian, A.A., Daobo, W.: Modeling and backstepping-based nonlinear control strategy for a 6 DOF quadrotor helicopter. Chin. J. Aeronaut. 21(3), 261\u2013268 (2008)","journal-title":"Chin. J. Aeronaut."},{"issue":"1","key":"2347_CR12","doi-asserted-by":"publisher","first-page":"13","DOI":"10.1016\/j.apm.2022.08.029","volume":"113","author":"M Jafari","year":"2023","unstructured":"Jafari, M., Mobayen, S., Bayat, F., Roth, H.: A nonsingular terminal sliding algorithm for swing and stance control of a prosthetic leg robot. Appl. Math. Model. 113(1), 13\u201329 (2023)","journal-title":"Appl. Math. Model."},{"issue":"10","key":"2347_CR13","doi-asserted-by":"publisher","first-page":"203146","DOI":"10.1109\/ACCESS.2020.3037119","volume":"8","author":"M Ghaedi","year":"2020","unstructured":"Ghaedi, M., Bayat, F., Fekih, A., Mobayen, S.: Robust performance improvement of lateral motion in four-wheel independent-drive electric vehicles. IEEE Access 8(10), 203146\u2013203157 (2020)","journal-title":"IEEE Access"},{"issue":"10","key":"2347_CR14","doi-asserted-by":"publisher","first-page":"7986","DOI":"10.1109\/TIE.2018.2881936","volume":"66","author":"F Bayat","year":"2018","unstructured":"Bayat, F.: Model predictive sliding control for finite-time three-axis spacecraft attitude tracking. IEEE Trans. Industr. Electron. 66(10), 7986\u20137996 (2018)","journal-title":"IEEE Trans. Industr. Electron."},{"issue":"3","key":"2347_CR15","doi-asserted-by":"publisher","first-page":"1498","DOI":"10.1109\/TMECH.2021.3094575","volume":"27","author":"X Shao","year":"2021","unstructured":"Shao, X., Sun, G., Yao, W., Liu, J., Wu, L.: Adaptive sliding mode control for quadrotor UAVs with input saturation. IEEE\/ASME Trans. Mechatron. 27(3), 1498\u20131509 (2021)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"2347_CR16","doi-asserted-by":"publisher","first-page":"540","DOI":"10.1016\/j.automatica.2018.03.078","volume":"93","author":"H Obeid","year":"2018","unstructured":"Obeid, H., Fridman, L.M., Laghrouche, S., Harmouche, M.: Barrier function-based adaptive sliding mode control. Automatica 93, 540\u2013544 (2018)","journal-title":"Automatica"},{"issue":"11","key":"2347_CR17","doi-asserted-by":"publisher","first-page":"1957","DOI":"10.1016\/j.automatica.2005.07.001","volume":"41","author":"S Yu","year":"2005","unstructured":"Yu, S., Yu, X., Shirinzadeh, B., Man, Z.: Continuous finite-time control for robotic manipulators with terminal sliding mode. Automatica 41(11), 1957\u20131964 (2005)","journal-title":"Automatica"},{"key":"2347_CR18","doi-asserted-by":"publisher","DOI":"10.1016\/j.heliyon.2023.e13378","author":"M Barghandan","year":"2023","unstructured":"Barghandan, M., Pirmohamadi, A.A., Mobayen, S., Fekih, A.: Optimal adaptive barrier-function super-twisting nonlinear global sliding mode scheme for trajectory tracking of parallel robots. Heliyon (2023). https:\/\/doi.org\/10.1016\/j.heliyon.2023.e13378","journal-title":"Heliyon"},{"key":"2347_CR19","doi-asserted-by":"crossref","unstructured":"Shtessel, Y.B., Moreno, J.A., Plestan, F., Fridman, L.M., Poznyak, A.S.: Super-twisting adaptive sliding mode control: A Lyapunov design. In 49th IEEE conference on decision and control (CDC), IEEE, pp. 5109\u20135113. (2010)","DOI":"10.1109\/CDC.2010.5717908"},{"issue":"4","key":"2347_CR20","doi-asserted-by":"publisher","first-page":"1902","DOI":"10.1016\/j.jfranklin.2013.09.019","volume":"351","author":"JA Moreno","year":"2014","unstructured":"Moreno, J.A.: On strict Lyapunov functions for some non-homogeneous super-twisting algorithms J. . Franklin Inst. 351(4), 1902\u20131919 (2014)","journal-title":". Franklin Inst."},{"key":"2347_CR21","doi-asserted-by":"publisher","first-page":"294","DOI":"10.1016\/j.ast.2015.05.022","volume":"45","author":"A Modirrousta","year":"2015","unstructured":"Modirrousta, A., Khodabandeh, M.: A novel nonlinear hybrid controller design for an uncertain quadrotor with disturbances. Aerosp. Sci. Technol. 45, 294\u2013308 (2015)","journal-title":"Aerosp. Sci. Technol."},{"key":"2347_CR22","doi-asserted-by":"publisher","first-page":"737","DOI":"10.1016\/j.ast.2019.01.053","volume":"86","author":"M Vahdanipour","year":"2019","unstructured":"Vahdanipour, M., Khodabandeh, M.: Adaptive fractional order sliding mode control for a quadrotor with a varying load. Aerosp. Sci. Technol. 86, 737\u2013747 (2019)","journal-title":"Aerosp. Sci. Technol."},{"key":"2347_CR23","doi-asserted-by":"publisher","first-page":"419","DOI":"10.1007\/s12555-009-0311-8","volume":"7","author":"D Lee","year":"2009","unstructured":"Lee, D., Jin Kim, H., Sastry, S.: Feedback linearization vs. adaptive sliding mode control for a quadrotor helicopter. Int. J. Control. Autom. Syst. 7, 419\u2013428 (2009)","journal-title":"Int. J. Control. Autom. Syst."},{"key":"2347_CR24","doi-asserted-by":"publisher","first-page":"3428","DOI":"10.1109\/ACCESS.2020.3047659","volume":"9","author":"O Mofid","year":"2020","unstructured":"Mofid, O., Mobayen, S., Wong, W.-K.: Adaptive terminal sliding mode control for attitude and position tracking control of quadrotor UAVs in the existence of external disturbance. IEEE Access 9, 3428\u20133440 (2020)","journal-title":"IEEE Access"},{"issue":"8","key":"2347_CR25","doi-asserted-by":"publisher","first-page":"11565","DOI":"10.1007\/s13369-024-08718-y","volume":"49","author":"MH Korayem","year":"2024","unstructured":"Korayem, M.H., Dehkordi, S.F., Ghobadi, N.: Wheel slippage compensation in mobile manipulators through combined kinematic, dynamic, and sliding mode control. Arab. J. Sci. Eng. 49(8), 11565\u201311585 (2024)","journal-title":"Arab. J. Sci. Eng."},{"key":"2347_CR26","doi-asserted-by":"crossref","unstructured":"Ghobadi, N., Dehkordi, S.F.: Dynamic modeling and sliding mode control of a wheeled mobile robot assuming lateral and longitudinal slip of wheels. In 2019 7th International Conference on Robotics and Mechatronics (ICRoM), IEEE, pp. 150\u2013155. (2019)","DOI":"10.1109\/ICRoM48714.2019.9071913"},{"issue":"5","key":"2347_CR27","doi-asserted-by":"publisher","first-page":"1487","DOI":"10.1002\/oca.2745","volume":"42","author":"M Habibnejad Korayem","year":"2021","unstructured":"Habibnejad Korayem, M., Ghobadi, N., Fathollahi Dehkordi, S.: Designing an optimal control strategy for a mobile manipulator and its application by considering the effect of uncertainties and wheel slipping. Optim. Control Appl. Methods 42(5), 1487\u20131511 (2021)","journal-title":"Optim. Control Appl. Methods"},{"issue":"2","key":"2347_CR28","doi-asserted-by":"publisher","first-page":"025254","DOI":"10.1088\/2631-8695\/add643","volume":"7","author":"TK Mohammed","year":"2025","unstructured":"Mohammed, T.K., Asfaw, W.A., Abdissa, C.M., Lemma, L.N.: Constrained robust adaptive control design for fixed wing uav under parameter uncertainties and external disturbances. Eng. Res. Express 7(2), 025254 (2025)","journal-title":"Eng. Res. Express"},{"issue":"6","key":"2347_CR29","first-page":"e7021","volume":"7","author":"EA Gedefaw","year":"2025","unstructured":"Gedefaw, E.A., Abera, N.B., Abdissa, C.M.: A review of modeling and control techniques for unmanned aerial vehicles. Eng. Rep. 7(6), e7021 (2025)","journal-title":"Eng. Rep."},{"key":"2347_CR30","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2025.3607809","author":"AG Adane","year":"2025","unstructured":"Adane, A.G., Abdissa, C.M.: Adaptive fuzzy sliding mode controller of three link robot arm manipulator. IEEE Access (2025). https:\/\/doi.org\/10.1109\/ACCESS.2025.3607809","journal-title":"IEEE Access"},{"key":"2347_CR31","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2025.3581449","author":"HG Dirara","year":"2025","unstructured":"Dirara, H.G., Yareshe, F.T., Abdissa, C.M.: Design and analysis of adaptive fuzzy super-twisting sliding mode controller for uncertain 2-DoF robotic manipulator. IEEE Access (2025). https:\/\/doi.org\/10.1109\/ACCESS.2025.3581449","journal-title":"IEEE Access"},{"issue":"1","key":"2347_CR32","doi-asserted-by":"publisher","first-page":"19954","DOI":"10.1038\/s41598-025-03552-0","volume":"15","author":"EW Metekia","year":"2025","unstructured":"Metekia, E.W., Asfaw, W.A., Abdissa, C.M., Lemma, L.N.: Control of a fixed wing unmanned aerial vehicle using a robust fractional order controller. Sci. Rep. 15(1), 19954 (2025)","journal-title":"Sci. Rep."},{"key":"2347_CR33","unstructured":"Badri, M.: Nonlinear controller design for ducted-fan quadcopter, M.Sc. thesis, Department of Electrical Engineering, School of Engineering, Tabriz University (2017)"},{"issue":"3","key":"2347_CR34","doi-asserted-by":"publisher","first-page":"751","DOI":"10.1137\/S0363012997321358","volume":"38","author":"SP Bhat","year":"2000","unstructured":"Bhat, S.P., Bernstein, D.S.: Finite-time stability of continuous autonomous systems. SIAM J. Control. Optim. 38(3), 751\u2013766 (2000)","journal-title":"SIAM J. Control. Optim."},{"issue":"8","key":"2347_CR35","doi-asserted-by":"publisher","first-page":"9069","DOI":"10.1109\/TITS.2024.3367769","volume":"25","author":"O Tutsoy","year":"2024","unstructured":"Tutsoy, O., Asadi, D., Ahmadi, K., Nabavi-Chashmi, S.Y., Iqbal, J.: Minimum distance and minimum time optimal path planning with bioinspired machine learning algorithms for faulty unmanned air vehicles. IEEE Trans. Intell. Transp. Syst. 25(8), 9069\u20139077 (2024)","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"2347_CR36","doi-asserted-by":"publisher","first-page":"106","DOI":"10.1016\/j.isatra.2021.02.006","volume":"118","author":"O Tutsoy","year":"2021","unstructured":"Tutsoy, O., Barkana, D.E.: Model free adaptive control of the under-actuated robot manipulator with the chaotic dynamics. ISA Trans. 118, 106\u2013115 (2021)","journal-title":"ISA Trans."},{"key":"2347_CR37","doi-asserted-by":"crossref","unstructured":"Stevens, B.L., Lewis, F.L.: Johnson EN. Aircraft control and simulation: dynamics, controls design, and autonomous systems. John Wiley & Sons, (2015)","DOI":"10.1002\/9781119174882"},{"issue":"2","key":"2347_CR38","doi-asserted-by":"publisher","first-page":"534","DOI":"10.1109\/TSMCB.2007.910740","volume":"38","author":"YJ Huang","year":"2008","unstructured":"Huang, Y.J., Kuo, T.C., Chang, S.H.: Adaptive sliding-mode control for nonlinearsystems with uncertain parameters. IEEE Trans. Syst. Man Cybernet. Part B (Cybernet.) 38(2), 534\u2013539 (2008)","journal-title":"IEEE Trans. Syst. Man Cybernet. Part B (Cybernet.)"},{"issue":"3","key":"2347_CR39","first-page":"175","volume":"14","author":"E Davoodi","year":"2014","unstructured":"Davoodi, E., Rezaei, M.: Dynamic modeling, simulation and control of a quadrotor using MEMS sensors experimental data. Modares Mech. Eng. 14(3), 175\u2013184 (2014)","journal-title":"Modares Mech. Eng."},{"issue":"2","key":"2347_CR40","first-page":"309","volume":"8","author":"M Pe","year":"2014","unstructured":"Pe, M., Luna, A., Rodr, C.: Identification of an unstable nonlinear system: quadrotor. Int. J. Aerosp. Mech. Eng. 8(2), 309\u2013317 (2014)","journal-title":"Int. J. Aerosp. Mech. Eng."},{"issue":"10","key":"2347_CR41","doi-asserted-by":"publisher","first-page":"1547","DOI":"10.1177\/0142331216644046","volume":"39","author":"S Mobayen","year":"2017","unstructured":"Mobayen, S., Tchier, F.: Design of an adaptive chattering avoidance global sliding mode tracker for uncertain non-linear time-varying systems. Trans. Inst. Meas. Control. 39(10), 1547\u20131558 (2017)","journal-title":"Trans. Inst. Meas. Control."},{"issue":"1","key":"2347_CR42","doi-asserted-by":"publisher","first-page":"388","DOI":"10.1002\/asjc.1878","volume":"22","author":"F Bayat","year":"2020","unstructured":"Bayat, F., Javaheri, M.: Two-layer terminal sliding mode attitude control of satellites equipped with reaction wheels. Asian J. Control 22(1), 388\u2013397 (2020)","journal-title":"Asian J. Control"},{"key":"2347_CR43","doi-asserted-by":"publisher","first-page":"190","DOI":"10.1016\/j.automatica.2019.05.040","volume":"107","author":"S Koch","year":"2019","unstructured":"Koch, S., Reichhartinger, M.: Discrete-time equivalents of the super-twisting algorithm. Automatica 107, 190\u2013199 (2019)","journal-title":"Automatica"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-025-02347-9","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-025-02347-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-025-02347-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,30]],"date-time":"2026-03-30T07:39:52Z","timestamp":1774856392000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-025-02347-9"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,12,29]]},"references-count":43,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2026,3]]}},"alternative-id":["2347"],"URL":"https:\/\/doi.org\/10.1007\/s10846-025-02347-9","relation":{},"ISSN":["1573-0409"],"issn-type":[{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,12,29]]},"assertion":[{"value":"5 August 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"11 December 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"29 December 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"The authors have no relevant financial or non-financial interests to disclose.","order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare no competing interests.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}],"article-number":"13"}}