{"id":"https://openalex.org/W4406458093","doi":"https://doi.org/10.1109/tie.2024.3525144","title":"Omni-Directional Aerial Transportation System: Modeling, Control, and Experimental Validation","display_name":"Omni-Directional Aerial Transportation System: Modeling, Control, and Experimental Validation","publication_year":2025,"publication_date":"2025-01-16","ids":{"openalex":"https://openalex.org/W4406458093","doi":"https://doi.org/10.1109/tie.2024.3525144"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2024.3525144","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3525144","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/A5049478658","display_name":"Zhichao Yang","orcid":null},"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":"Zhichao Yang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0009-0004-5015-6561","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, 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":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-9772-7091","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025233988","display_name":"Yi Chai","orcid":"https://orcid.org/0009-0006-5633-0764"},"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":"Yi Chai","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0009-0006-5633-0764","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036940181","display_name":"Wei He","orcid":"https://orcid.org/0000-0003-1939-0574"},"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":"Wei He","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-1939-0574","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","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":false,"raw_author_name":"Xiao Liang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-7311-8005","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, 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":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-9664-4534","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, 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/A5049478658"],"corresponding_institution_ids":["https://openalex.org/I205237279"],"apc_list":null,"apc_paid":null,"fwci":2.1886,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.85412408,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"72","issue":"8","first_page":"8261","last_page":"8269"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9524000287055969,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9524000287055969,"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/control-system","display_name":"Control system","score":0.5200340747833252},{"id":"https://openalex.org/keywords/model-validation","display_name":"Model validation","score":0.5119746923446655},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5063892602920532},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34730100631713867},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2971031665802002},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.11773338913917542}],"concepts":[{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.5200340747833252},{"id":"https://openalex.org/C3019813237","wikidata":"https://www.wikidata.org/wiki/Q65089264","display_name":"Model validation","level":2,"score":0.5119746923446655},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5063892602920532},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34730100631713867},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2971031665802002},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.11773338913917542},{"id":"https://openalex.org/C2522767166","wikidata":"https://www.wikidata.org/wiki/Q2374463","display_name":"Data science","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2024.3525144","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3525144","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/G7051720999","display_name":null,"funder_award_id":"62273187","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7574044311","display_name":null,"funder_award_id":"623B2054","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8103840789","display_name":null,"funder_award_id":"23JCQNJC01930","funder_id":"https://openalex.org/F4320323993","funder_display_name":"Natural Science Foundation of Tianjin City"}],"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}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1561053133","https://openalex.org/W1584143882","https://openalex.org/W2418601359","https://openalex.org/W2566317155","https://openalex.org/W2615395590","https://openalex.org/W2972841490","https://openalex.org/W2994908648","https://openalex.org/W3036945655","https://openalex.org/W3096180411","https://openalex.org/W3111389675","https://openalex.org/W3127821438","https://openalex.org/W3199703811","https://openalex.org/W4225609248","https://openalex.org/W4283760052","https://openalex.org/W4285209607","https://openalex.org/W4285473763","https://openalex.org/W4295789344","https://openalex.org/W4312242670","https://openalex.org/W4366148828","https://openalex.org/W4366493169","https://openalex.org/W4367721699","https://openalex.org/W4384916966","https://openalex.org/W4386523060","https://openalex.org/W4390660409","https://openalex.org/W4390939867","https://openalex.org/W4391277496","https://openalex.org/W4401452333"],"related_works":["https://openalex.org/W2615607975","https://openalex.org/W2192101006","https://openalex.org/W2116800748","https://openalex.org/W2638730922","https://openalex.org/W2190465783","https://openalex.org/W2027827693","https://openalex.org/W2381267592","https://openalex.org/W4241033836","https://openalex.org/W2053371515","https://openalex.org/W2518504198"],"abstract_inverted_index":{"Aerial":[0],"transportation":[1,28,67,186,201],"systems":[2],"have":[3,16],"demonstrated":[4],"unique":[5],"application":[6,59],"value":[7],"in":[8,12,209],"various":[9],"fields,":[10],"particularly":[11],"logistics":[13],"transportation,":[14,53],"and":[15,81,104,156,188],"garnered":[17],"significant":[18],"attention":[19],"recently.":[20],"Most":[21],"of":[22,40,48,77,116,139,146,163,172,180,198],"the":[23,31,38,41,45,58,64,78,93,107,114,137,147,170,173,178,183,195,206],"existing":[24],"researches":[25],"on":[26],"cable-suspended":[27],"system":[29,98,187],"regard":[30],"payload":[32,51,84,140,199],"as":[33],"a":[34,70,82],"point":[35,149],"mass,":[36],"neglecting":[37],"attitude":[39,46,109,196],"payload.":[42,117],"To":[43,118,177],"achieve":[44,194],"control":[47,125,175,189,197],"nonpoint":[49],"mass":[50],"during":[52,200],"that":[54],"can":[55],"significantly":[56],"expand":[57],"scope,":[60],"this":[61,97,210],"article":[62],"develops":[63],"omni-directional":[65,184],"aerial":[66,185],"system,":[68,96],"where":[69,129],"fully":[71],"actuated":[72],"UAV":[73,204],"is":[74,85,111,127,133,150],"utilized":[75],"instead":[76],"underactuated":[79],"UAV,":[80],"bar-shaped":[83],"slunged":[86],"by":[87,153],"two":[88,161],"cables.":[89],"However,":[90],"compared":[91],"with":[92,113,120,202],"single-cable":[94],"suspension":[95],"manifests":[99],"more":[100],"complex":[101],"dynamic":[102],"coupling":[103],"nonlinearity.":[105],"Specifically,":[106],"UAV's":[108],"subsystem":[110],"coupled":[112],"swing":[115,141],"deal":[119],"these":[121],"problems,":[122],"an":[123,130],"antiswing":[124],"approach":[126],"presented,":[128],"enhanced-coupling":[131],"signal":[132],"constructed":[134],"to":[135,168,193],"improve":[136],"capability":[138],"elimination.":[142],"The":[143],"asymptotic":[144],"convergence":[145],"equilibrium":[148],"strictly":[151],"proved":[152],"Lyapunov":[154],"techniques":[155],"LaSalle's":[157],"invariance":[158],"theorem.":[159],"Furthermore,":[160],"groups":[162],"hardware":[164],"experiments":[165],"are":[166,191],"conducted":[167],"validate":[169],"effectiveness":[171],"proposed":[174],"method.":[176],"best":[179],"our":[181],"knowledge,":[182],"solution":[190],"developed":[192],"single":[203],"for":[205],"first":[207],"time":[208],"article.":[211]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}
