{"id":"https://openalex.org/W4225524220","doi":"https://doi.org/10.1109/robio54168.2021.9739540","title":"Nonlinear Control for Dual-Rope Aerial Transportation System by Tilt-Rotor","display_name":"Nonlinear Control for Dual-Rope Aerial Transportation System by Tilt-Rotor","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4225524220","doi":"https://doi.org/10.1109/robio54168.2021.9739540"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739540","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739540","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100322669","display_name":"Yang Wang","orcid":"https://orcid.org/0000-0002-3669-0192"},"institutions":[{"id":"https://openalex.org/I4391767788","display_name":"Institute of Robotics","ror":"https://ror.org/002cfhw56","country_code":null,"type":"facility","lineage":["https://openalex.org/I24768866","https://openalex.org/I4391767788"]},{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yang Wang","raw_affiliation_strings":["College of Artificial Intelligence,Institute of Robotics and Automatic Information Systems","Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence"],"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence,Institute of Robotics and Automatic Information Systems","institution_ids":["https://openalex.org/I4391767788"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence","institution_ids":["https://openalex.org/I4391767788"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055961885","display_name":"Hai Yu","orcid":"https://orcid.org/0000-0002-9772-7091"},"institutions":[{"id":"https://openalex.org/I4391767788","display_name":"Institute of Robotics","ror":"https://ror.org/002cfhw56","country_code":null,"type":"facility","lineage":["https://openalex.org/I24768866","https://openalex.org/I4391767788"]},{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hai Yu","raw_affiliation_strings":["College of Artificial Intelligence,Institute of Robotics and Automatic Information Systems","Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence","Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence,Institute of Robotics and Automatic Information Systems","institution_ids":["https://openalex.org/I4391767788"]},{"raw_affiliation_string":"Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence","institution_ids":["https://openalex.org/I4391767788"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009297385","display_name":"Liang Xiao","orcid":"https://orcid.org/0000-0003-0836-4397"},"institutions":[{"id":"https://openalex.org/I4391767788","display_name":"Institute of Robotics","ror":"https://ror.org/002cfhw56","country_code":null,"type":"facility","lineage":["https://openalex.org/I24768866","https://openalex.org/I4391767788"]},{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Liang","raw_affiliation_strings":["College of Artificial Intelligence,Institute of Robotics and Automatic Information Systems","Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence","Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence,Institute of Robotics and Automatic Information Systems","institution_ids":["https://openalex.org/I4391767788"]},{"raw_affiliation_string":"Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence","institution_ids":["https://openalex.org/I4391767788"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100439073","display_name":"Jianda Han","orcid":"https://orcid.org/0000-0002-9664-4534"},"institutions":[{"id":"https://openalex.org/I4391767788","display_name":"Institute of Robotics","ror":"https://ror.org/002cfhw56","country_code":null,"type":"facility","lineage":["https://openalex.org/I24768866","https://openalex.org/I4391767788"]},{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianda Han","raw_affiliation_strings":["College of Artificial Intelligence,Institute of Robotics and Automatic Information Systems","Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence","Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence,Institute of Robotics and Automatic Information Systems","institution_ids":["https://openalex.org/I4391767788"]},{"raw_affiliation_string":"Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence","institution_ids":["https://openalex.org/I4391767788"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058644546","display_name":"Yongchun Fang","orcid":"https://orcid.org/0000-0002-3061-2708"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]},{"id":"https://openalex.org/I4391767788","display_name":"Institute of Robotics","ror":"https://ror.org/002cfhw56","country_code":null,"type":"facility","lineage":["https://openalex.org/I24768866","https://openalex.org/I4391767788"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongchun Fang","raw_affiliation_strings":["College of Artificial Intelligence,Institute of Robotics and Automatic Information Systems","Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence"],"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence,Institute of Robotics and Automatic Information Systems","institution_ids":["https://openalex.org/I4391767788"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence","institution_ids":["https://openalex.org/I4391767788"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100322669"],"corresponding_institution_ids":["https://openalex.org/I205237279","https://openalex.org/I4391767788"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.31360671,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"37","issue":null,"first_page":"1473","last_page":"1478"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/rope","display_name":"Rope","score":0.8600306510925293},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.627688467502594},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6246667504310608},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4538083076477051},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.42589133977890015},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38428962230682373},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.33778566122055054},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.33305585384368896},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25738847255706787},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.20779848098754883},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19357874989509583},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1085653305053711}],"concepts":[{"id":"https://openalex.org/C162269090","wikidata":"https://www.wikidata.org/wiki/Q1156047","display_name":"Rope","level":2,"score":0.8600306510925293},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.627688467502594},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6246667504310608},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4538083076477051},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.42589133977890015},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38428962230682373},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33778566122055054},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.33305585384368896},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25738847255706787},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.20779848098754883},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19357874989509583},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1085653305053711},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio54168.2021.9739540","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739540","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320330170","display_name":"Young Elite Scientists Sponsorship Program by Tianjin","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W2005057587","https://openalex.org/W2043164756","https://openalex.org/W2592066277","https://openalex.org/W2595763608","https://openalex.org/W2889281165","https://openalex.org/W2920945592","https://openalex.org/W2943950188","https://openalex.org/W2971027765","https://openalex.org/W2989684120","https://openalex.org/W3000119253","https://openalex.org/W3033561035","https://openalex.org/W3103929592","https://openalex.org/W6785814468"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2382190654","https://openalex.org/W2041034200","https://openalex.org/W2373129217","https://openalex.org/W1924903628","https://openalex.org/W2375717371","https://openalex.org/W4390286213","https://openalex.org/W2372453219","https://openalex.org/W3173532932","https://openalex.org/W2393872772"],"abstract_inverted_index":{"With":[0],"high":[1],"maneuverability":[2],"and":[3,48,68],"strong":[4],"flexibility,":[5],"unmanned":[6],"aerial":[7],"vehicles":[8],"(UAVs)":[9],"have":[10],"been":[11],"widely":[12],"used,":[13],"especially":[14],"in":[15],"the":[16,26,31,45,82,86,89,100],"field":[17],"of":[18,29,88],"transporting":[19],"payload.":[20],"However,":[21],"existing":[22],"studies":[23],"mainly":[24],"study":[25],"transportation":[27,46,57],"mode":[28],"connecting":[30],"payload":[32,42],"with":[33],"a":[34,69],"single":[35],"rope.":[36],"In":[37],"order":[38],"to":[39],"transport":[40],"bulky":[41],"while":[43],"increase":[44],"efficiency":[47],"guarantee":[49],"safety,":[50],"this":[51],"paper":[52],"focus":[53],"on":[54],"dual-rope":[55],"tilt-rotor":[56],"system.":[58],"The":[59],"dynamic":[60],"model":[61],"is":[62,73,92],"established":[63],"through":[64],"Lagrange\u2019s":[65],"modeling":[66],"technique":[67],"nonlinear":[70],"control":[71,83],"method":[72],"further":[74],"proposed,":[75],"which":[76],"incorporates":[77],"more":[78],"swing-related":[79],"information":[80],"into":[81],"law.":[84],"Subsequently,":[85],"stability":[87],"closed-loop":[90],"system":[91],"proved":[93],"by":[94],"utilizing":[95],"LaSalle\u2019s":[96],"invariance":[97],"principle.":[98],"Finally,":[99],"simulation":[101],"results":[102],"are":[103],"provided.":[104]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}