{"id":"https://openalex.org/W4401452333","doi":"https://doi.org/10.1109/tase.2024.3437747","title":"Modeling, Robust Control Design, and Experimental Verification for Quadrotor Carrying Cable-Suspended Payload","display_name":"Modeling, Robust Control Design, and Experimental Verification for Quadrotor Carrying Cable-Suspended Payload","publication_year":2024,"publication_date":"2024-08-09","ids":{"openalex":"https://openalex.org/W4401452333","doi":"https://doi.org/10.1109/tase.2024.3437747"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2024.3437747","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3437747","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5087372334","display_name":"Yang Zhu","orcid":"https://orcid.org/0000-0003-4331-0618"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yang Zhu","raw_affiliation_strings":["School of Information Science and Technology, Southwest Jiaotong University, Chengdu, China"],"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Southwest Jiaotong University, Chengdu, China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115053707","display_name":"Zhiyuan Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyuan Zheng","raw_affiliation_strings":["School of Information Science and Technology, Southwest Jiaotong University, Chengdu, China"],"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Southwest Jiaotong University, Chengdu, China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079963758","display_name":"Jinliang Shao","orcid":"https://orcid.org/0000-0002-2508-7451"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinliang Shao","raw_affiliation_strings":["School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"affiliations":[{"raw_affiliation_string":"School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037131765","display_name":"Hailong Huang","orcid":"https://orcid.org/0000-0003-2667-6423"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Hailong Huang","raw_affiliation_strings":["Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108050907","display_name":"Wei Xing Zheng","orcid":"https://orcid.org/0000-0002-0572-5938"},"institutions":[{"id":"https://openalex.org/I63525965","display_name":"Western Sydney University","ror":"https://ror.org/03t52dk35","country_code":"AU","type":"education","lineage":["https://openalex.org/I63525965"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Wei Xing Zheng","raw_affiliation_strings":["School of Computer, Data and Mathematical Sciences, Western Sydney University, Sydney, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"School of Computer, Data and Mathematical Sciences, Western Sydney University, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I63525965"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5087372334"],"corresponding_institution_ids":["https://openalex.org/I4800084"],"apc_list":null,"apc_paid":null,"fwci":6.1961,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.97059577,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"22","issue":null,"first_page":"6061","last_page":"6075"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.9879000186920166,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9879000186920166,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.984499990940094,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9717000126838684,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.879435658454895},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.508302628993988},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4482354521751404},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44093751907348633},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4193098247051239},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.41336938738822937},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4013328552246094},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3623923361301422},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.11737173795700073}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.879435658454895},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.508302628993988},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4482354521751404},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44093751907348633},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4193098247051239},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.41336938738822937},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4013328552246094},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3623923361301422},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.11737173795700073},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2024.3437747","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3437747","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.47999998927116394}],"awards":[{"id":"https://openalex.org/G4220143146","display_name":null,"funder_award_id":"2023NSFSC1430","funder_id":"https://openalex.org/F4320329861","funder_display_name":"Natural Science Foundation of Sichuan Province"},{"id":"https://openalex.org/G5426960617","display_name":null,"funder_award_id":"62273077","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6803449460","display_name":null,"funder_award_id":"2682023CX082","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G7487646668","display_name":null,"funder_award_id":"2024NSFJQ0013","funder_id":"https://openalex.org/F4320329861","funder_display_name":"Natural Science Foundation of Sichuan Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320329861","display_name":"Natural Science Foundation of Sichuan Province","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W2135493101","https://openalex.org/W2528553194","https://openalex.org/W2593615053","https://openalex.org/W2756177107","https://openalex.org/W2911159819","https://openalex.org/W2943950188","https://openalex.org/W2946236382","https://openalex.org/W2964337281","https://openalex.org/W2990960986","https://openalex.org/W3032217820","https://openalex.org/W3034414486","https://openalex.org/W3042973648","https://openalex.org/W3086714660","https://openalex.org/W3111389675","https://openalex.org/W4225609248","https://openalex.org/W4226409590","https://openalex.org/W4285209607","https://openalex.org/W4307263409","https://openalex.org/W4309921802","https://openalex.org/W4321020910","https://openalex.org/W4361301288","https://openalex.org/W4361760859","https://openalex.org/W4379382639","https://openalex.org/W4379409270","https://openalex.org/W4386820581","https://openalex.org/W4386882926","https://openalex.org/W4387350644","https://openalex.org/W4388207131","https://openalex.org/W4390732569"],"related_works":["https://openalex.org/W2615607975","https://openalex.org/W2355865573","https://openalex.org/W2155981143","https://openalex.org/W2155245395","https://openalex.org/W2192101006","https://openalex.org/W2116800748","https://openalex.org/W2638730922","https://openalex.org/W2190465783","https://openalex.org/W2027827693","https://openalex.org/W2381267592"],"abstract_inverted_index":{"This":[0,118],"paper":[1],"originates":[2],"from":[3],"two":[4],"well-accepted":[5],"challenges":[6],"in":[7,212,229,246,335,344,350],"the":[8,30,37,64,82,85,106,128,136,139,148,154,171,175,192,204,234,238,241,247,251,256,272,279,282,304,310,316,320,329],"control":[9,172,219],"of":[10,68,84,105,138,203,243,323],"a":[11,14,19,55,96,102,159,167,180],"quadrotor":[12],"with":[13,53,158],"cable-suspended":[15],"payload:":[16],"1)":[17],"designing":[18,135],"refined":[20],"controller":[21,157,206],"based":[22],"on":[23,81,250],"high-precision":[24],"payload":[25,57,107,113,129],"swing":[26,58,91,114,130],"modeling":[27],"to":[28,123,126,190,217,236,270,274,302,314],"achieve":[29],"quantized":[31],"prescribed":[32,193],"robustness;":[33],"and":[34,75,141,174,195,201,223,291,332],"2)":[35],"resolving":[36],"trajectory":[38,196],"tracking":[39,160,197],"performance":[40,164,173],"degradation":[41],"issue":[42,151,222],"caused":[43],"by":[44,152,308,328],"input":[45,149,220,239,276],"saturation.":[46,277],"To":[47],"combat":[48],"these":[49],"challenges,":[50],"we":[51,94,146],"start":[52],"establishing":[54],"precise":[56,125],"model.":[59],"The":[60,199,337],"experimental":[61],"investigation":[62],"reveals":[63],"fact":[65],"that":[66],"neglect":[67],"realistic":[69],"factors":[70,116],"like":[71],"cable-joint":[72],"dry":[73],"friction":[74],"cable":[76],"elasticity":[77],"has":[78],"significant":[79],"impacts":[80],"precision":[83],"existing":[86],"models,":[87],"especially":[88],"under":[89],"small":[90,269],"angles.":[92],"Therefore,":[93],"propose":[95],"new":[97],"integrated":[98],"drag":[99],"model":[100,119],"including":[101],"novel":[103],"sign":[104],"airspeed-dependent":[108],"term,":[109],"which":[110,178],"lumps":[111],"all":[112],"damping":[115],"together.":[117],"is":[120,258,340],"experimentally":[121],"verified":[122,208],"be":[124,263,268,299,326],"provide":[127],"disturbance":[131,142,353],"spectrum":[132],"for":[133,187],"quantitatively":[134],"bandwidth":[137,334],"uncertainty":[140],"estimator":[143],"(UDE).":[144],"Furthermore,":[145],"resolve":[147],"saturation":[150,221],"augmenting":[153],"classic":[155],"UDE-based":[156],"differentiator":[161],"(TD).":[162],"Rigorous":[163],"analysis":[165],"derives":[166],"clear":[168],"relationship":[169],"between":[170],"UDE":[176,311],"parameter,":[177],"forms":[179],"simple":[181],"yet":[182],"effective":[183],"parameter":[184,244,312],"tuning":[185],"guideline":[186],"practical":[188],"applications":[189],"ensure":[191],"robustness":[194],"accuracy.":[198],"effectiveness":[200],"advantage":[202],"proposed":[205,338],"are":[207,226],"via":[209],"comparative":[210],"experiments":[211],"different":[213],"flight":[214],"scenarios.":[215],"Note":[216],"Practitioners\u2014The":[218],"multi-parameter":[224,280],"optimization":[225],"frequently":[227],"encountered":[228],"engineering":[230],"practices.":[231],"When":[232],"applying":[233],"TD":[235,248],"address":[237],"saturation,":[240],"selection":[242],"r":[245,261,266],"depends":[249],"reference":[252,257,273],"continuity.":[253],"Specifically,":[254],"if":[255],"continuous,":[259],"then":[260],"can":[262],"large;":[264],"otherwise":[265],"should":[267,298],"smooth":[271],"avoid":[275],"For":[278],"optimization,":[281],"feedback":[283],"gains":[284],"<inline-formula":[285,292],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[286,293],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[287,294],"<tex-math":[288,295],"notation=\"LaTeX\">$k_{p}$":[289],"</tex-math></inline-formula>":[290,297],"notation=\"LaTeX\">$k_{d}$":[296],"tuned":[300],"first":[301],"guarantee":[303],"system":[305,317],"stability,":[306],"followed":[307],"decreasing":[309],"T":[313,324],"improve":[315],"robustness.":[318],"However,":[319],"feasible":[321],"range":[322],"may":[325],"restricted":[327],"measurement":[330],"noise":[331],"actuator":[333],"practice.":[336],"algorithm":[339],"applicable":[341],"not":[342],"only":[343],"aerial":[345],"transportation":[346],"systems":[347],"but":[348],"also":[349],"addressing":[351],"other":[352],"rejection":[354],"problems.":[355]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-09T08:58:05.943551","created_date":"2025-10-10T00:00:00"}
