{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,30]],"date-time":"2025-07-30T13:18:19Z","timestamp":1753881499436,"version":"3.41.2"},"reference-count":21,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2021,8,19]],"date-time":"2021-08-19T00:00:00Z","timestamp":1629331200000},"content-version":"vor","delay-in-days":230,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61973274","61803216"],"award-info":[{"award-number":["61973274","61803216"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002338","name":"Ministry of Education of the People's Republic of China","doi-asserted-by":"publisher","award":["GDSC202010"],"award-info":[{"award-number":["GDSC202010"]}],"id":[{"id":"10.13039\/501100002338","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Computational Intelligence and Neuroscience"],"published-print":{"date-parts":[[2021,1]]},"abstract":"<jats:p>In this article, a singularity\u2010free terminal sliding mode (SFTSM) control scheme based on the radial basis function neural network (RBFNN) is proposed for the quadrotor unmanned aerial vehicles (QUAVs) under the presence of inertia uncertainties and external disturbances. Firstly, a singularity\u2010free terminal sliding mode surface (SFTSMS) is constructed to achieve the finite\u2010time convergence without any piecewise continuous function. Then, the adaptive finite\u2010time control is designed with an auxiliary function to avoid the singularity in the error\u2010related inverse matrix. Moreover, the RBFNN and extended state observer (ESO) are introduced to estimate the unknown disturbances, respectively, such that prior knowledge on system model uncertainties is not required for designing attitude controllers. Finally, the attitude and angular velocity errors are finite\u2010time uniformly ultimately bounded (FTUUB), and numerical simulations illustrated the satisfactory performance of the designed control scheme.<\/jats:p>","DOI":"10.1155\/2021\/3576783","type":"journal-article","created":{"date-parts":[[2021,8,19]],"date-time":"2021-08-19T18:18:45Z","timestamp":1629397125000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["RBFNN\u2010Based Singularity\u2010Free Terminal Sliding Mode Control for Uncertain Quadrotor UAVs"],"prefix":"10.1155","volume":"2021","author":[{"given":"Meiling","family":"Tao","sequence":"first","affiliation":[]},{"given":"Xiongxiong","family":"He","sequence":"additional","affiliation":[]},{"given":"Shuzong","family":"Xie","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5869-0436","authenticated-orcid":false,"given":"Qiang","family":"Chen","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2021,8,19]]},"reference":[{"key":"e_1_2_12_1_2","doi-asserted-by":"publisher","DOI":"10.1109\/tie.2017.2752139"},{"key":"e_1_2_12_2_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2017.11.010"},{"key":"e_1_2_12_3_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-019-0116-3"},{"key":"e_1_2_12_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/tie.2018.2831191"},{"key":"e_1_2_12_5_2","doi-asserted-by":"publisher","DOI":"10.1109\/tii.2020.2971056"},{"key":"e_1_2_12_6_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.apenergy.2021.117024"},{"key":"e_1_2_12_7_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2008.04.019"},{"key":"e_1_2_12_8_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-012-0556-2"},{"key":"e_1_2_12_9_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ins.2012.07.039"},{"key":"e_1_2_12_10_2","doi-asserted-by":"publisher","DOI":"10.1177\/1729881419844655"},{"key":"e_1_2_12_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/taes.2021.3050647"},{"key":"e_1_2_12_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/taes.2015.130725"},{"key":"e_1_2_12_13_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.knosys.2020.106523"},{"key":"e_1_2_12_14_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2019.08.025"},{"key":"e_1_2_12_15_2","doi-asserted-by":"publisher","DOI":"10.1109\/tsmc.2017.2785314"},{"key":"e_1_2_12_16_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2019.105444"},{"key":"e_1_2_12_17_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2020.01.030"},{"key":"e_1_2_12_18_2","doi-asserted-by":"publisher","DOI":"10.1109\/tie.2010.2046611"},{"key":"e_1_2_12_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/tie.2019.2920604"},{"key":"e_1_2_12_20_2","doi-asserted-by":"publisher","DOI":"10.1155\/2021\/3576783"},{"key":"e_1_2_12_21_2","doi-asserted-by":"publisher","DOI":"10.1109\/tie.2011.2107719"}],"container-title":["Computational Intelligence and Neuroscience"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/cin\/2021\/3576783.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/cin\/2021\/3576783.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1155\/2021\/3576783","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,6]],"date-time":"2024-08-06T11:11:46Z","timestamp":1722942706000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1155\/2021\/3576783"}},"subtitle":[],"editor":[{"given":"Yu-Ting","family":"Bai","sequence":"additional","affiliation":[]}],"short-title":[],"issued":{"date-parts":[[2021,1]]},"references-count":21,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2021,1]]}},"alternative-id":["10.1155\/2021\/3576783"],"URL":"https:\/\/doi.org\/10.1155\/2021\/3576783","archive":["Portico"],"relation":{},"ISSN":["1687-5265","1687-5273"],"issn-type":[{"type":"print","value":"1687-5265"},{"type":"electronic","value":"1687-5273"}],"subject":[],"published":{"date-parts":[[2021,1]]},"assertion":[{"value":"2021-07-12","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2021-08-11","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2021-08-19","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"3576783"}}