{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T16:06:03Z","timestamp":1777910763006,"version":"3.51.4"},"reference-count":34,"publisher":"SAGE Publications","issue":"16","license":[{"start":{"date-parts":[[2022,6,8]],"date-time":"2022-06-08T00:00:00Z","timestamp":1654646400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Transactions of the Institute of Measurement and Control"],"published-print":{"date-parts":[[2022,12]]},"abstract":"<jats:p>This paper presents an adaptive sliding mode-based active disturbance rejection control (ASM-ADRC) strategy for the altitude and attitude control of an unmanned quadcopter with disturbances. The quadcopter is an underactuated system subject to parametric perturbations, nonlinearity, unmodeled dynamics, strong coupling, and external disturbances. The proposed algorithm is based on the quadcopter\u2019s dynamic model, where the effects of noise and wind are considered additive disturbances. The central concept is to combine the advantages of adaptive sliding mode control (SMC) to accurately track the reference trajectory with the ability of ADRC to reject the parameter uncertainties and external disturbances. The proposed control scheme is verified in simulation studies with sensor noise and external disturbances. The simulation results show that the proposed algorithm can significantly reduce the chattering phenomenon, owing to the estimation capability of the extended state observer (ESO). The proposed method also improves the robustness against modeling errors and disturbances and smoothly tracks the reference trajectory.<\/jats:p>","DOI":"10.1177\/01423312221099366","type":"journal-article","created":{"date-parts":[[2022,6,8]],"date-time":"2022-06-08T06:54:34Z","timestamp":1654671274000},"page":"3176-3190","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":13,"title":["Adaptive sliding mode-based active disturbance rejection control for a quadcopter"],"prefix":"10.1177","volume":"44","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5010-8456","authenticated-orcid":false,"given":"Suhail Ahmad","family":"Suhail","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, National Institute of Technology Srinagar, India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mohammad Abid","family":"Bazaz","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, National Institute of Technology Srinagar, India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shoeb","family":"Hussain","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, National Institute of Technology Srinagar, India"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2022,6,8]]},"reference":[{"key":"bibr1-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1016\/j.promfg.2019.02.253"},{"key":"bibr2-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3015101"},{"key":"bibr3-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1016\/j.measurement.2016.12.002"},{"key":"bibr4-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2964013"},{"key":"bibr5-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1007\/s13369-017-2433-2"},{"key":"bibr6-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1109\/ICEE50131.2020.9260771"},{"key":"bibr7-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2007.908209"},{"key":"bibr8-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2012.2200104"},{"key":"bibr9-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1002\/stc.1831"},{"key":"bibr10-01423312221099366","unstructured":"Emran BJ (2014) Nonlinear adaptive control of quadrotor. Master\u2019s Thesis, American University of Sharjah, Sharjah, United Arab Emirates."},{"key":"bibr11-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2019.06.013"},{"key":"bibr12-01423312221099366","first-page":"4989","volume-title":"Proceedings of the 2003 American control conference","volume":"6","author":"Gao Z","year":"2003"},{"key":"bibr13-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2008.2011621"},{"key":"bibr14-01423312221099366","first-page":"19","volume":"1","author":"Han TG","year":"1998","journal-title":"Control and Decision"},{"key":"bibr15-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1109\/COMST.2016.2560343"},{"key":"bibr16-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1109\/TLA.2019.8896819"},{"key":"bibr17-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2014.03.003"},{"key":"bibr18-01423312221099366","volume-title":"Control Systems of Variable Structure","author":"Itkis U","year":"1976"},{"key":"bibr19-01423312221099366","doi-asserted-by":"publisher","DOI":"10.2514\/1.43768"},{"key":"bibr20-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2018.6043"},{"key":"bibr21-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2006.1657388"},{"key":"bibr22-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2009.2024569"},{"key":"bibr23-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2017.11.010"},{"key":"bibr24-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-012-9789-z"},{"key":"bibr25-01423312221099366","doi-asserted-by":"publisher","DOI":"10.23919\/ChiCC.2018.8483978"},{"key":"bibr26-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-27146-0_48"},{"key":"bibr27-01423312221099366","doi-asserted-by":"publisher","DOI":"10.3182\/20140313-3-IN-3024.00016"},{"key":"bibr28-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1016\/j.techsoc.2013.12.004"},{"key":"bibr29-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1016\/j.comcom.2019.10.007"},{"key":"bibr30-01423312221099366","first-page":"281","volume-title":"2019 international conference on computing, power and communication technologies (GUCON)","author":"Suhail SA","year":"2019"},{"key":"bibr31-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2020.0348"},{"key":"bibr32-01423312221099366","doi-asserted-by":"publisher","DOI":"10.3846\/16487788.2013.861224"},{"key":"bibr33-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2019.01.053"},{"key":"bibr34-01423312221099366","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2014.01.004"}],"container-title":["Transactions of the Institute of Measurement and Control"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/01423312221099366","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/01423312221099366","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/01423312221099366","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T15:05:53Z","timestamp":1777647953000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/01423312221099366"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,6,8]]},"references-count":34,"journal-issue":{"issue":"16","published-print":{"date-parts":[[2022,12]]}},"alternative-id":["10.1177\/01423312221099366"],"URL":"https:\/\/doi.org\/10.1177\/01423312221099366","relation":{},"ISSN":["0142-3312","1477-0369"],"issn-type":[{"value":"0142-3312","type":"print"},{"value":"1477-0369","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,6,8]]}}}