{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T02:08:59Z","timestamp":1740103739135,"version":"3.37.3"},"reference-count":51,"publisher":"Wiley","license":[{"start":{"date-parts":[[2020,11,26]],"date-time":"2020-11-26T00:00:00Z","timestamp":1606348800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61673101","JJKH20200119KJ"],"award-info":[{"award-number":["61673101","JJKH20200119KJ"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Thirteenth Five-Year Science Research Plan of Jilin Province","award":["61673101","JJKH20200119KJ"],"award-info":[{"award-number":["61673101","JJKH20200119KJ"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Complexity"],"published-print":{"date-parts":[[2020,11,26]]},"abstract":"<jats:p>A robust adaptive fuzzy nonlinear controller based on dynamic surface and integral sliding mode control strategy (ADSISMC) is proposed to realize trajectory tracking for a class of quadrotor UAVs. In this study, the composite factors including parametric uncertainties and external disturbances are added to controller design, which make it more realistic. The quadrotor model is divided into two subsystems of attitude and position that make the control design become feasible. The main contributions of the proposed ADSISMC strategy are as follows: (1) The combination of dynamic surface and integral sliding mode makes the system always in sliding stage by finding the appropriate initial position compared with the common sliding mode, and the complexity of explosion in backstepping method is eliminated. (2) By introducing the fuzzy system, the unknown functions and uncertainties can be approximated which significantly improves the robustness and the tracking performance. (3) The switching control strategy is utilized to compensate for the errors between estimated and ideal inputs; the tracking performance of the whole system has been significantly improved. The simulation results show the effectiveness of the proposed control method.<\/jats:p>","DOI":"10.1155\/2020\/8879364","type":"journal-article","created":{"date-parts":[[2020,11,27]],"date-time":"2020-11-27T18:35:09Z","timestamp":1606502109000},"page":"1-20","source":"Crossref","is-referenced-by-count":8,"title":["Adaptive Robust Dynamic Surface Integral Sliding Mode Control for Quadrotor UAVs under Parametric Uncertainties and External Disturbances"],"prefix":"10.1155","volume":"2020","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2829-1420","authenticated-orcid":true,"given":"Ye","family":"Zhang","sequence":"first","affiliation":[{"name":"School of Automation Engineering, Northeast Electric Power University, Jilin, China"},{"name":"Jilin Province International Research Center of Precision Drive and Intelligent Control, Jilin, China"}]},{"given":"Ning","family":"Xu","sequence":"additional","affiliation":[{"name":"School of Automation Engineering, Northeast Electric Power University, Jilin, China"},{"name":"Jilin Province International Research Center of Precision Drive and Intelligent Control, Jilin, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6565-2347","authenticated-orcid":true,"given":"Guoqiang","family":"Zhu","sequence":"additional","affiliation":[{"name":"School of Automation Engineering, Northeast Electric Power University, Jilin, China"},{"name":"Jilin Province International Research Center of Precision Drive and Intelligent Control, Jilin, China"}]},{"given":"Lingfang","family":"Sun","sequence":"additional","affiliation":[{"name":"School of Automation Engineering, Northeast Electric Power University, Jilin, China"},{"name":"Jilin Province International Research Center of Precision Drive and Intelligent Control, Jilin, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0797-5236","authenticated-orcid":true,"given":"Shengxian","family":"Cao","sequence":"additional","affiliation":[{"name":"School of Automation Engineering, Northeast Electric Power University, Jilin, China"},{"name":"Jilin Province International Research Center of Precision Drive and Intelligent Control, Jilin, China"}]},{"given":"Xiuyu","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Automation Engineering, Northeast Electric Power University, Jilin, China"},{"name":"Jilin Province International Research Center of Precision Drive and Intelligent Control, Jilin, China"}]}],"member":"311","reference":[{"issue":"5","key":"1","doi-asserted-by":"crossref","first-page":"2891","DOI":"10.1109\/TIE.2014.2364982","article-title":"Nonlinear robust adaptive tracking control of a quadrotor uav via immersion and invariance methodology","volume":"62","author":"B. Zhao","year":"2014","journal-title":"IEEE Transactions on Industrial Electronics"},{"doi-asserted-by":"publisher","key":"2","DOI":"10.1109\/mra.2012.2206474"},{"doi-asserted-by":"publisher","key":"3","DOI":"10.1155\/2019\/7931632"},{"doi-asserted-by":"publisher","key":"4","DOI":"10.1016\/j.jfranklin.2011.06.031"},{"issue":"4","key":"5","doi-asserted-by":"crossref","first-page":"1400","DOI":"10.1109\/TCST.2012.2200104","article-title":"Adaptive control of quadrotor uavs: a design trade study with flight evaluations","volume":"21","author":"Z. T. Dydek","year":"2012","journal-title":"IEEE Transactions on Control Systems Technology"},{"doi-asserted-by":"publisher","key":"6","DOI":"10.1109\/TCYB.2020.2987811"},{"issue":"1","key":"7","doi-asserted-by":"crossref","first-page":"340","DOI":"10.1109\/TCST.2014.2314460","article-title":"Time-varying formation control for unmanned aerial vehicles: theories and applications","volume":"23","author":"X. Dong","year":"2014","journal-title":"IEEE Transactions on Control Systems Technology"},{"doi-asserted-by":"publisher","key":"8","DOI":"10.1016\/j.isatra.2014.01.004"},{"doi-asserted-by":"publisher","key":"9","DOI":"10.1007\/s10514-012-9280-5"},{"doi-asserted-by":"publisher","key":"10","DOI":"10.1049\/iet-cta.2009.0336"},{"doi-asserted-by":"publisher","key":"11","DOI":"10.1109\/72.728391"},{"issue":"2","key":"12","doi-asserted-by":"crossref","first-page":"465","DOI":"10.1109\/TCST.2010.2042450","article-title":"A novel nonlinear backstepping controller design for helicopters using the rotation matrix","volume":"19","author":"I. A. Raptis","year":"2010","journal-title":"IEEE Transactions on Control Systems Technology"},{"doi-asserted-by":"publisher","key":"13","DOI":"10.1155\/2015\/591789"},{"doi-asserted-by":"publisher","key":"14","DOI":"10.1109\/tnano.2019.2953933"},{"doi-asserted-by":"publisher","key":"15","DOI":"10.1109\/tsmc.2018.2827101"},{"doi-asserted-by":"publisher","key":"16","DOI":"10.1016\/j.ast.2017.05.022"},{"author":"Y. Kui","first-page":"3697","article-title":"Sliding Mode Control for a Quadrotor Slung Load System","key":"17"},{"doi-asserted-by":"publisher","key":"18","DOI":"10.1002\/rnc.3607"},{"doi-asserted-by":"publisher","key":"19","DOI":"10.1016\/j.isatra.2017.09.008"},{"doi-asserted-by":"publisher","key":"20","DOI":"10.3182\/20120829-3-mx-2028.00056"},{"doi-asserted-by":"publisher","key":"21","DOI":"10.1016\/j.ymssp.2015.05.013"},{"key":"22","article-title":"Event-triggered adaptive backstepping control for strict-feedback nonlinear systems with zero dynamics","volume":"2019","author":"B. Xu","year":"2019","journal-title":"Complexity"},{"author":"S. Zhang","first-page":"8355","article-title":"Backstepping based nonlinear integral sliding mode control for quadrotors under external disturbances","key":"23"},{"doi-asserted-by":"publisher","key":"24","DOI":"10.1007\/s40998-018-0080-6"},{"doi-asserted-by":"publisher","key":"25","DOI":"10.1017\/aer.2017.70"},{"doi-asserted-by":"publisher","key":"26","DOI":"10.1109\/tie.2019.2938460"},{"issue":"3","key":"27","first-page":"52","article-title":"Adaptive neural network dynamic surface control for a class of unknow time-delay nonlinear hysteresis system","volume":"38","author":"X. Tang","year":"2018","journal-title":"Journal of Northeast Electric Power University"},{"doi-asserted-by":"publisher","key":"28","DOI":"10.1109\/tmech.2019.2927752"},{"doi-asserted-by":"publisher","key":"29","DOI":"10.1109\/access.2020.3022293"},{"doi-asserted-by":"publisher","key":"30","DOI":"10.1109\/tmech.2020.2991666"},{"doi-asserted-by":"publisher","key":"31","DOI":"10.1109\/tie.2018.2803773"},{"doi-asserted-by":"publisher","key":"32","DOI":"10.1109\/tie.2017.2711511"},{"doi-asserted-by":"publisher","key":"33","DOI":"10.1016\/j.ins.2016.10.018"},{"doi-asserted-by":"publisher","key":"34","DOI":"10.1177\/1729881416671118"},{"doi-asserted-by":"publisher","key":"35","DOI":"10.1002\/rnc.4044"},{"doi-asserted-by":"publisher","key":"36","DOI":"10.1109\/tnnls.2015.2456972"},{"doi-asserted-by":"publisher","key":"37","DOI":"10.1109\/tcyb.2018.2826519"},{"issue":"3","key":"38","doi-asserted-by":"crossref","first-page":"574","DOI":"10.1109\/TFUZZ.2018.2864940","article-title":"Finite-time convergence adaptive fuzzy control for dual-arm robot with unknown kinematics and dynamics","volume":"27","author":"C. Yang","year":"2018","journal-title":"IEEE Transactions on Fuzzy Systems"},{"issue":"1","key":"39","doi-asserted-by":"crossref","first-page":"209","DOI":"10.1109\/TII.2019.2957768","article-title":"Composite learning enhanced neural control for robot manipulator with output error constraints","volume":"17","author":"D. Huang","year":"2019","journal-title":"IEEE Transactions on Industrial Informatics"},{"doi-asserted-by":"publisher","key":"40","DOI":"10.1016\/j.isatra.2019.08.063"},{"issue":"9","key":"41","doi-asserted-by":"crossref","first-page":"1990","DOI":"10.1080\/00207721.2017.1299812","article-title":"Design of an adaptive tracker for n-link rigid robotic manipulators based on super-twisting global nonlinear sliding mode control","volume":"48","author":"S. Mobayen","year":"2017","journal-title":"International Journal of Systems Science"},{"doi-asserted-by":"publisher","key":"42","DOI":"10.1109\/jas.2017.7510643"},{"doi-asserted-by":"publisher","key":"43","DOI":"10.1155\/2020\/8537198"},{"issue":"2","key":"44","doi-asserted-by":"crossref","first-page":"262","DOI":"10.1109\/TFUZZ.2011.2172948","article-title":"Second-order sliding fuzzy interval type-2 control for an uncertain system with real application","volume":"20","author":"M. Manceur","year":"2011","journal-title":"IEEE Transactions on Fuzzy Systems"},{"doi-asserted-by":"publisher","key":"45","DOI":"10.1007\/s11071-014-1362-9"},{"doi-asserted-by":"publisher","key":"46","DOI":"10.1049\/iet-cta.2016.0163"},{"doi-asserted-by":"publisher","key":"47","DOI":"10.1007\/s10846-013-9913-8"},{"doi-asserted-by":"publisher","key":"48","DOI":"10.1115\/1.4031087"},{"doi-asserted-by":"publisher","key":"49","DOI":"10.1016\/j.isatra.2012.09.009"},{"doi-asserted-by":"publisher","key":"50","DOI":"10.1016\/j.isatra.2014.03.010"},{"issue":"8","key":"51","first-page":"5044","article-title":"Robust backstepping sliding-mode control and observer-based fault estimation for a quadrotor UAV","volume":"63","author":"F. Chen","year":"2016","journal-title":"IEEE Transactions on Industrial Electronics"}],"container-title":["Complexity"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2020\/8879364.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2020\/8879364.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2020\/8879364.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,4,15]],"date-time":"2021-04-15T17:07:32Z","timestamp":1618506452000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.hindawi.com\/journals\/complexity\/2020\/8879364\/"}},"subtitle":[],"editor":[{"given":"Ning","family":"Wang","sequence":"additional","affiliation":[]}],"short-title":[],"issued":{"date-parts":[[2020,11,26]]},"references-count":51,"alternative-id":["8879364","8879364"],"URL":"https:\/\/doi.org\/10.1155\/2020\/8879364","relation":{},"ISSN":["1099-0526","1076-2787"],"issn-type":[{"type":"electronic","value":"1099-0526"},{"type":"print","value":"1076-2787"}],"subject":[],"published":{"date-parts":[[2020,11,26]]}}}