{
  "abstract": "This paper develops conditional anti-saturation integral sliding-mode control for quadrotor hovering subject to bounded generalized control authority, external disturbances, and model uncertainties. A state-dependent Boolean mechanism conditionally modifies the bounded restoring action according to whether each hovering error is increasing or recovering. For the nominal hovering model, the resulting CAS-ISMC law establishes the integral sliding manifold from the initial instant under ideal initialization and guarantees asymptotic convergence of the hovering errors within a certified positively invariant recovery region, while an explicit gain budget enforces the prescribed componentwise input bounds. For the uncertain model, a projected adaptive extension estimates a structured uncertainty bound with unknown coefficients and known conservative limits. Projection prevents gain drift and yields a computable control-authority condition. Under a verifiable local initialization condition, the adaptive closed-loop signals remain bounded, the sliding variable converges to zero, and the hovering errors converge asymptotically to the origin. The discontinuous closed-loop dynamics is analyzed in the Filippov sense using Lyapunov arguments and weak-invariance analysis for the limiting differential inclusion. Reproducible simulations evaluate damping-gain sensitivity, projected compensation of structured matched uncertainty, and coupled four-channel near-hover regulation.",
  "abstract_shown": true,
  "affiliations": [
    "Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, China",
    "College of Information Science and Engineering, Northeastern University, Shenyang 110819, China",
    "School of Control Engineering, Northeastern University at Qinhuangdao, Qinhuangdao 066004, China"
  ],
  "article_type": null,
  "arxiv": null,
  "author_total": 3,
  "authors": [
    {
      "affs": [
        0
      ],
      "name": "Lixue Xu"
    },
    {
      "affs": [
        1
      ],
      "name": "Tongyao Li"
    },
    {
      "affs": [
        2
      ],
      "name": "Xiubo Wang"
    }
  ],
  "bibtex": "https://research.draconitic.com/paper/9adhsgkqzcydf.bib",
  "cited_by": 0,
  "doi": "10.3390/math14203751",
  "fulltext_url": null,
  "id": "9adhsgkqzcydf",
  "issns": [
    "2227-7390"
  ],
  "landing_url": "https://www.mdpi.com/2227-7390/14/20/3751",
  "language": null,
  "licence": "CC-BY-4.0",
  "licence_label": "CC BY 4.0",
  "licence_source": "article",
  "licence_url": "https://creativecommons.org/licenses/by/4.0/",
  "metadata_licence": null,
  "native_subjects": [
    [
      "openalex",
      "2207|Adaptive Control of Nonlinear Systems"
    ]
  ],
  "openalex": "W7221901702",
  "pdf_url": null,
  "pmcid": null,
  "pmid": null,
  "published": "2026-10-15",
  "publisher": "MDPI AG",
  "ris": "https://research.draconitic.com/paper/9adhsgkqzcydf.ris",
  "sources": [
    {
      "first_seen": "2026-10-30T12:18:29Z",
      "native_id": "10.3390/math14203751",
      "source": "crossref",
      "url": "https://www.mdpi.com/2227-7390/14/20/3751"
    }
  ],
  "subjects": [
    {
      "field": "mathematics",
      "origin": "issn:2227-7390",
      "subfield": "general"
    }
  ],
  "title": "Adaptive Integral Sliding-Mode Control for UAV Hovering with Conditional Anti-Saturation",
  "title_text": "Adaptive Integral Sliding-Mode Control for UAV Hovering with Conditional Anti-Saturation",
  "type": "peer-reviewed",
  "updated_at": "2026-10-30T12:18:29Z",
  "url": "https://research.draconitic.com/paper/9adhsgkqzcydf",
  "venue": "Mathematics",
  "versions": []
}