{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:GT2AVCRBFIH2PKBLCIASLTQW5J","short_pith_number":"pith:GT2AVCRB","canonical_record":{"source":{"id":"1803.07690","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-03-20T23:25:20Z","cross_cats_sorted":[],"title_canon_sha256":"2cefdb5020072306fcd0ae8d39a9a84810fb2ae33923364523fd91ce0737a3f4","abstract_canon_sha256":"01649dee2de6c8932c7e34c65970f05fd8eaa10769475fb9a9e81a45d7a2692b"},"schema_version":"1.0"},"canonical_sha256":"34f40a8a212a0fa7a82b120125ce16ea632080324514d35e76c81ce6a896afcb","source":{"kind":"arxiv","id":"1803.07690","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1803.07690","created_at":"2026-05-18T00:20:29Z"},{"alias_kind":"arxiv_version","alias_value":"1803.07690v1","created_at":"2026-05-18T00:20:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1803.07690","created_at":"2026-05-18T00:20:29Z"},{"alias_kind":"pith_short_12","alias_value":"GT2AVCRBFIH2","created_at":"2026-05-18T12:32:25Z"},{"alias_kind":"pith_short_16","alias_value":"GT2AVCRBFIH2PKBL","created_at":"2026-05-18T12:32:25Z"},{"alias_kind":"pith_short_8","alias_value":"GT2AVCRB","created_at":"2026-05-18T12:32:25Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:GT2AVCRBFIH2PKBLCIASLTQW5J","target":"record","payload":{"canonical_record":{"source":{"id":"1803.07690","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-03-20T23:25:20Z","cross_cats_sorted":[],"title_canon_sha256":"2cefdb5020072306fcd0ae8d39a9a84810fb2ae33923364523fd91ce0737a3f4","abstract_canon_sha256":"01649dee2de6c8932c7e34c65970f05fd8eaa10769475fb9a9e81a45d7a2692b"},"schema_version":"1.0"},"canonical_sha256":"34f40a8a212a0fa7a82b120125ce16ea632080324514d35e76c81ce6a896afcb","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:20:29.254001Z","signature_b64":"cDRiERM+CQg09aEWuB/3U7HbzSau6friYsBKdjcD0ggJP9qZqvG/2B7VuiGLVPaTJ2eRm/BxI3gRtPNPG5BSAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"34f40a8a212a0fa7a82b120125ce16ea632080324514d35e76c81ce6a896afcb","last_reissued_at":"2026-05-18T00:20:29.253591Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:20:29.253591Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1803.07690","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:20:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZHz40hNiz+gte5wCZuqQnj4mdB8wOmI/7Av2hGUudO+KrdcC2Irkiq4q0c9jgAo8bgxI3LKsyAbQUiIvx5fvDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T00:00:57.442184Z"},"content_sha256":"c8f4c020768241c1ab95c3092b19547200c3279bc5ffc0dee844dc7ee94b193d","schema_version":"1.0","event_id":"sha256:c8f4c020768241c1ab95c3092b19547200c3279bc5ffc0dee844dc7ee94b193d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:GT2AVCRBFIH2PKBLCIASLTQW5J","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Adaptive Super-twisting Second-order Sliding Mode for Attitude Control of Quadcopter UAVs","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.SY","authors_text":"Quang Hieu Pham, Van Truong Hoang","submitted_at":"2018-03-20T23:25:20Z","abstract_excerpt":"This work addresses the modelling and control aspects for quadcopter or drone unmanned aerial vehicles (UAVs). First, the mathematical model of the drone is derived by identifying significant parameters and the negligible ones are treated as disturbances. The control design begins with the switching surface selection, then, an Adaptive Super Twisting Sliding Mode (ASTSM) Control algorithm is applied to adjust attitudes of the quadcopter under harsh conditions such as nonlinear, strong coupling, high uncertainties and disturbances. Simulation results show that the proposed controller can achiev"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1803.07690","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:20:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mIRtEkRIO4WRXBePDbDgElvf3r6TVcqv7nZsB1tOO9mGy8jHUriTMy2gLcxf65UvbEwF6WJLok5FFZDpGryLCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T00:00:57.442867Z"},"content_sha256":"51507876d91ced8fdcb2aae26069f64ce82cec5bca92d4b57fad223d2f7f3b66","schema_version":"1.0","event_id":"sha256:51507876d91ced8fdcb2aae26069f64ce82cec5bca92d4b57fad223d2f7f3b66"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/GT2AVCRBFIH2PKBLCIASLTQW5J/bundle.json","state_url":"https://pith.science/pith/GT2AVCRBFIH2PKBLCIASLTQW5J/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/GT2AVCRBFIH2PKBLCIASLTQW5J/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-05-26T00:00:57Z","links":{"resolver":"https://pith.science/pith/GT2AVCRBFIH2PKBLCIASLTQW5J","bundle":"https://pith.science/pith/GT2AVCRBFIH2PKBLCIASLTQW5J/bundle.json","state":"https://pith.science/pith/GT2AVCRBFIH2PKBLCIASLTQW5J/state.json","well_known_bundle":"https://pith.science/.well-known/pith/GT2AVCRBFIH2PKBLCIASLTQW5J/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:GT2AVCRBFIH2PKBLCIASLTQW5J","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"01649dee2de6c8932c7e34c65970f05fd8eaa10769475fb9a9e81a45d7a2692b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-03-20T23:25:20Z","title_canon_sha256":"2cefdb5020072306fcd0ae8d39a9a84810fb2ae33923364523fd91ce0737a3f4"},"schema_version":"1.0","source":{"id":"1803.07690","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1803.07690","created_at":"2026-05-18T00:20:29Z"},{"alias_kind":"arxiv_version","alias_value":"1803.07690v1","created_at":"2026-05-18T00:20:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1803.07690","created_at":"2026-05-18T00:20:29Z"},{"alias_kind":"pith_short_12","alias_value":"GT2AVCRBFIH2","created_at":"2026-05-18T12:32:25Z"},{"alias_kind":"pith_short_16","alias_value":"GT2AVCRBFIH2PKBL","created_at":"2026-05-18T12:32:25Z"},{"alias_kind":"pith_short_8","alias_value":"GT2AVCRB","created_at":"2026-05-18T12:32:25Z"}],"graph_snapshots":[{"event_id":"sha256:51507876d91ced8fdcb2aae26069f64ce82cec5bca92d4b57fad223d2f7f3b66","target":"graph","created_at":"2026-05-18T00:20:29Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"paper":{"abstract_excerpt":"This work addresses the modelling and control aspects for quadcopter or drone unmanned aerial vehicles (UAVs). First, the mathematical model of the drone is derived by identifying significant parameters and the negligible ones are treated as disturbances. The control design begins with the switching surface selection, then, an Adaptive Super Twisting Sliding Mode (ASTSM) Control algorithm is applied to adjust attitudes of the quadcopter under harsh conditions such as nonlinear, strong coupling, high uncertainties and disturbances. Simulation results show that the proposed controller can achiev","authors_text":"Quang Hieu Pham, Van Truong Hoang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-03-20T23:25:20Z","title":"Adaptive Super-twisting Second-order Sliding Mode for Attitude Control of Quadcopter UAVs"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1803.07690","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:c8f4c020768241c1ab95c3092b19547200c3279bc5ffc0dee844dc7ee94b193d","target":"record","created_at":"2026-05-18T00:20:29Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"01649dee2de6c8932c7e34c65970f05fd8eaa10769475fb9a9e81a45d7a2692b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-03-20T23:25:20Z","title_canon_sha256":"2cefdb5020072306fcd0ae8d39a9a84810fb2ae33923364523fd91ce0737a3f4"},"schema_version":"1.0","source":{"id":"1803.07690","kind":"arxiv","version":1}},"canonical_sha256":"34f40a8a212a0fa7a82b120125ce16ea632080324514d35e76c81ce6a896afcb","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"34f40a8a212a0fa7a82b120125ce16ea632080324514d35e76c81ce6a896afcb","first_computed_at":"2026-05-18T00:20:29.253591Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:20:29.253591Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"cDRiERM+CQg09aEWuB/3U7HbzSau6friYsBKdjcD0ggJP9qZqvG/2B7VuiGLVPaTJ2eRm/BxI3gRtPNPG5BSAQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:20:29.254001Z","signed_message":"canonical_sha256_bytes"},"source_id":"1803.07690","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c8f4c020768241c1ab95c3092b19547200c3279bc5ffc0dee844dc7ee94b193d","sha256:51507876d91ced8fdcb2aae26069f64ce82cec5bca92d4b57fad223d2f7f3b66"],"state_sha256":"12bc8b79f9b6870192fa112dde9e1a9b7462d99f5c3747ba70a23f83183a6471"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IYjYNGdgnnRs9tDUGiqE8bhf0P7MISnNFTazTCMO4w4BTEDrZeYNYlnPOZFdgjd7CtdDjW7OWvwtUrzbq4F+BA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-26T00:00:57.446641Z","bundle_sha256":"1d7887b0b24a79960b6cd1dc3b6a5cfd8d51f5f4f6d5eb8a6335bbfe4e901287"}}