{"id":"https://openalex.org/W4226409590","doi":"https://doi.org/10.1109/tie.2022.3163526","title":"Unmanned Aerial Transportation System With Flexible Connection Between the Quadrotor and the Payload: Modeling, Controller Design, and Experimental Validation","display_name":"Unmanned Aerial Transportation System With Flexible Connection Between the Quadrotor and the Payload: Modeling, Controller Design, and Experimental Validation","publication_year":2022,"publication_date":"2022-04-05","ids":{"openalex":"https://openalex.org/W4226409590","doi":"https://doi.org/10.1109/tie.2022.3163526"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2022.3163526","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3163526","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5101575076","display_name":"Xiao Liang","orcid":"https://orcid.org/0000-0002-7311-8005"},"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"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiao Liang","raw_affiliation_strings":["College of Artificial Intelligence and Tianjin Key Laboratory of Intelligent Robotics, Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-7311-8005","affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence and Tianjin Key Laboratory of Intelligent Robotics, Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"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/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 and Tianjin Key Laboratory of Intelligent Robotics, Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-9772-7091","affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence and Tianjin Key Laboratory of Intelligent Robotics, Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100632241","display_name":"Zhuang Zhang","orcid":"https://orcid.org/0000-0002-3834-3477"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuang Zhang","raw_affiliation_strings":["College of Artificial Intelligence and Tianjin Key Laboratory of Intelligent Robotics, Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence and Tianjin Key Laboratory of Intelligent Robotics, Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033424074","display_name":"Huawang Liu","orcid":"https://orcid.org/0000-0002-5290-0305"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huawang Liu","raw_affiliation_strings":["College of Artificial Intelligence and Tianjin Key Laboratory of Intelligent Robotics, Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-5290-0305","affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence and Tianjin Key Laboratory of Intelligent Robotics, Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongchun Fang","raw_affiliation_strings":["College of Artificial Intelligence and Tianjin Key Laboratory of Intelligent Robotics, Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-3061-2708","affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence and Tianjin Key Laboratory of Intelligent Robotics, Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100439073","display_name":"Jianda Han","orcid":"https://orcid.org/0000-0002-9664-4534"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianda Han","raw_affiliation_strings":["College of Artificial Intelligence and Tianjin Key Laboratory of Intelligent Robotics, Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-9664-4534","affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence and Tianjin Key Laboratory of Intelligent Robotics, Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101575076"],"corresponding_institution_ids":["https://openalex.org/I205237279"],"apc_list":null,"apc_paid":null,"fwci":7.0437,"has_fulltext":false,"cited_by_count":62,"citation_normalized_percentile":{"value":0.97832841,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"70","issue":"2","first_page":"1870","last_page":"1882"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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"}},{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9213956594467163},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7847276926040649},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6114961504936218},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5461736917495728},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5220175385475159},{"id":"https://openalex.org/keywords/fuselage","display_name":"Fuselage","score":0.46713829040527344},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4440969228744507},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41812416911125183},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4162459671497345},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.41543489694595337},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3846125900745392},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14305362105369568},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09566196799278259},{"id":"https://openalex.org/keywords/network-packet","display_name":"Network packet","score":0.0940123200416565},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09165987372398376}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.9213956594467163},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7847276926040649},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6114961504936218},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5461736917495728},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5220175385475159},{"id":"https://openalex.org/C113556839","wikidata":"https://www.wikidata.org/wiki/Q1110579","display_name":"Fuselage","level":2,"score":0.46713829040527344},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4440969228744507},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41812416911125183},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4162459671497345},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.41543489694595337},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3846125900745392},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14305362105369568},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09566196799278259},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0940123200416565},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09165987372398376},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2022.3163526","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3163526","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G13930627","display_name":null,"funder_award_id":"19JCQNJC03500","funder_id":"https://openalex.org/F4320323993","funder_display_name":"Natural Science Foundation of Tianjin City"},{"id":"https://openalex.org/G2573596171","display_name":null,"funder_award_id":"91848203","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3017679674","display_name":null,"funder_award_id":"TJSQNTJ-2020-21","funder_id":"https://openalex.org/F4320330170","funder_display_name":"Young Elite Scientists Sponsorship Program by Tianjin"},{"id":"https://openalex.org/G3173097156","display_name":null,"funder_award_id":"61903200","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7004984336","display_name":null,"funder_award_id":"61873132","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323993","display_name":"Natural Science Foundation of Tianjin City","ror":null},{"id":"https://openalex.org/F4320330170","display_name":"Young Elite Scientists Sponsorship Program by Tianjin","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1568784080","https://openalex.org/W1993669445","https://openalex.org/W2019896740","https://openalex.org/W2044894195","https://openalex.org/W2061887515","https://openalex.org/W2089801374","https://openalex.org/W2094780870","https://openalex.org/W2104463519","https://openalex.org/W2109656638","https://openalex.org/W2121385616","https://openalex.org/W2291994225","https://openalex.org/W2342759786","https://openalex.org/W2581292955","https://openalex.org/W2587159109","https://openalex.org/W2600133379","https://openalex.org/W2607386221","https://openalex.org/W2787890633","https://openalex.org/W2920818226","https://openalex.org/W2920945592","https://openalex.org/W2943950188","https://openalex.org/W2946236382","https://openalex.org/W2964477618","https://openalex.org/W2969259835","https://openalex.org/W2969259892","https://openalex.org/W2971027765","https://openalex.org/W2980513282","https://openalex.org/W2981107689","https://openalex.org/W3000678188","https://openalex.org/W3011540688","https://openalex.org/W3025244420","https://openalex.org/W3034414486","https://openalex.org/W3040883726","https://openalex.org/W3042973648","https://openalex.org/W3091998406","https://openalex.org/W3103929592","https://openalex.org/W3109011525","https://openalex.org/W3122831466","https://openalex.org/W3123524846","https://openalex.org/W3146727668","https://openalex.org/W3156747092"],"related_works":["https://openalex.org/W1527563262","https://openalex.org/W4248245130","https://openalex.org/W1966616960","https://openalex.org/W1982444000","https://openalex.org/W4312554538","https://openalex.org/W4312342900","https://openalex.org/W2247678569","https://openalex.org/W2015033770","https://openalex.org/W4292387682","https://openalex.org/W4313405128"],"abstract_inverted_index":{"Aerial":[0],"delivery":[1],"is":[2,43,102,148],"becoming":[3],"a":[4,93,144,185,193],"reality":[5],"due":[6],"to":[7,25,175],"the":[8,27,33,46,52,55,68,74,90,97,100,109,119,129,177,181,206,217],"development":[9],"of":[10,54,67,132,180,187,216],"microelectronics":[11],"and":[12,32,51,63,84,99,115,125,161,169,209],"communication":[13],"technology.":[14],"Most":[15],"existing":[16],"methods":[17],"for":[18,212],"cable-suspended":[19],"transportation":[20,37,196],"systems":[21,38],"utilize":[22],"fixed-length":[23],"cable":[24],"connect":[26],"unmanned":[28],"aerial":[29,36,195],"vehicle":[30],"quadrotor":[31,56,69,98,156,218],"payload.":[34],"Such":[35],"present":[39],"underactuated":[40],"property,":[41],"which":[42,153],"caused":[44],"by":[45,104,150],"indirectly":[47],"controllable":[48],"payload":[49,61,101,158,213],"motion":[50,65],"underactuation":[53],"itself.":[57],"In":[58],"practical":[59],"applications,":[60],"hoisting":[62,162],"lowering":[64],"independent":[66,215],"altitude":[70],"will":[71],"further":[72],"expand":[73],"application":[75],"scope":[76],"in":[77,141],"such":[78],"areas":[79],"as":[80,128,200],"limited":[81],"space":[82],"crossing":[83],"offshore":[85],"sample":[86],"collection.":[87],"To":[88,136],"realize":[89],"aforementioned":[91],"objectives,":[92],"flexible":[94],"connection":[95],"between":[96],"realized":[103],"mounting":[105],"an":[106],"actuator":[107],"beneath":[108],"fuselage.":[110],"Suffering":[111],"from":[112],"strong":[113],"nonlinearity":[114],"complex":[116],"dynamic":[117],"coupling,":[118],"control":[120,146,210],"problem":[121],"becomes":[122],"extremely":[123],"challenging":[124],"more":[126],"cumbersome,":[127],"system\u2019s":[130],"degree":[131],"freedom":[133],"(DOF)":[134],"increases.":[135],"deal":[137],"with":[138],"these":[139],"problems,":[140],"this":[142,203],"article,":[143],"nonlinear":[145],"approach":[147],"presented":[149],"energy-based":[151],"analysis,":[152],"achieves":[154],"simultaneous":[155],"positioning,":[157],"swing":[159],"elimination":[160],"<bold":[163],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[164],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">/</b>":[165],"lowering.":[166],"Lyapunov":[167],"techniques":[168],"LaSalle\u2019s":[170],"Invariance":[171],"theorem":[172],"are":[173,190],"utilized":[174],"prove":[176],"asymptotic":[178],"convergence":[179],"equilibrium":[182],"point.":[183],"Finally,":[184],"series":[186],"hardware":[188],"experiments":[189],"conducted":[191],"on":[192],"self-built":[194],"platform.":[197],"As":[198],"far":[199],"we":[201],"know,":[202],"article":[204],"provides":[205],"first":[207],"mechanism":[208],"solution":[211],"hoisting/lowering":[214],"altitude.":[219]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":26},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":3}],"updated_date":"2026-05-02T08:42:23.175194","created_date":"2025-10-10T00:00:00"}
