{"id":"https://openalex.org/W4390547512","doi":"https://doi.org/10.1109/tsmc.2023.3342027","title":"A Novel Newton\u2013Euler Method-Based Nonlinear Anti-Swing Control for a Quadrotor UAV Carrying a Slung Load","display_name":"A Novel Newton\u2013Euler Method-Based Nonlinear Anti-Swing Control for a Quadrotor UAV Carrying a Slung Load","publication_year":2024,"publication_date":"2024-01-03","ids":{"openalex":"https://openalex.org/W4390547512","doi":"https://doi.org/10.1109/tsmc.2023.3342027"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2023.3342027","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2023.3342027","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","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/A5064721860","display_name":"Yanhong Luo","orcid":"https://orcid.org/0000-0001-6898-7903"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanhong Luo","raw_affiliation_strings":["State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, and the School of Information Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0001-6898-7903","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, and the School of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101794557","display_name":"Hang Yu","orcid":"https://orcid.org/0000-0002-5164-9286"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hang Yu","raw_affiliation_strings":["State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, and the School of Information Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0002-5164-9286","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, and the School of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100625792","display_name":"Huaguang Zhang","orcid":"https://orcid.org/0000-0002-2375-9824"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaguang Zhang","raw_affiliation_strings":["State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, and the School of Information Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0002-2375-9824","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, and the School of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052179355","display_name":"Yu Zhou","orcid":"https://orcid.org/0000-0003-4462-7262"},"institutions":[{"id":"https://openalex.org/I4210148944","display_name":"D\u00e0-Ji\u0101ng Innovations Science and Technology (China)","ror":"https://ror.org/04fmkfb67","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210148944"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Zhou","raw_affiliation_strings":["Flight Systems Department, Shenzhen DJI Technology Company Ltd., Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Flight Systems Department, Shenzhen DJI Technology Company Ltd., Shenzhen, China","institution_ids":["https://openalex.org/I4210148944"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.0553,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.98101449,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"54","issue":"4","first_page":"2266","last_page":"2275"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9986000061035156,"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":0.9986000061035156,"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":0.9919999837875366,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9915000200271606,"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/control-theory","display_name":"Control theory (sociology)","score":0.8058072924613953},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6109182834625244},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5846987366676331},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5786579251289368},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5084013342857361},{"id":"https://openalex.org/keywords/linear-quadratic-regulator","display_name":"Linear-quadratic regulator","score":0.4988996982574463},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.47268158197402954},{"id":"https://openalex.org/keywords/euler-angles","display_name":"Euler angles","score":0.470140278339386},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.45228689908981323},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3399012088775635},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.2967796325683594},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19586223363876343},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.18317145109176636},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13221430778503418},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09595993161201477},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08777880668640137}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8058072924613953},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6109182834625244},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5846987366676331},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5786579251289368},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5084013342857361},{"id":"https://openalex.org/C98779006","wikidata":"https://www.wikidata.org/wiki/Q2520550","display_name":"Linear-quadratic regulator","level":3,"score":0.4988996982574463},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.47268158197402954},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.470140278339386},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.45228689908981323},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3399012088775635},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2967796325683594},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19586223363876343},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.18317145109176636},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13221430778503418},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09595993161201477},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08777880668640137},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2023.3342027","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2023.3342027","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8999999761581421,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G1246252618","display_name":null,"funder_award_id":"U22B20115","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3696571035","display_name":null,"funder_award_id":"62173082","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3859081842","display_name":null,"funder_award_id":"2022YFB4100802","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G8585005597","display_name":null,"funder_award_id":"N2304005","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1501199254","https://openalex.org/W1503432188","https://openalex.org/W1517700591","https://openalex.org/W2043151145","https://openalex.org/W2058475458","https://openalex.org/W2060101524","https://openalex.org/W2063958563","https://openalex.org/W2607386221","https://openalex.org/W2736334925","https://openalex.org/W2754861834","https://openalex.org/W2756177107","https://openalex.org/W2775662696","https://openalex.org/W2896179676","https://openalex.org/W2907826717","https://openalex.org/W2920818226","https://openalex.org/W2945313006","https://openalex.org/W2967622731","https://openalex.org/W2972289370","https://openalex.org/W2972555661","https://openalex.org/W3111389675","https://openalex.org/W3121971238","https://openalex.org/W3173815685","https://openalex.org/W3176761908","https://openalex.org/W3206015997","https://openalex.org/W4200003097","https://openalex.org/W4206177493","https://openalex.org/W4210727699","https://openalex.org/W4226318419","https://openalex.org/W4281258644","https://openalex.org/W4285157760","https://openalex.org/W4289535606","https://openalex.org/W4312529080"],"related_works":["https://openalex.org/W2360051520","https://openalex.org/W2798244654","https://openalex.org/W34871393","https://openalex.org/W3168108534","https://openalex.org/W1486689224","https://openalex.org/W2094697992","https://openalex.org/W4229574949","https://openalex.org/W2368813785","https://openalex.org/W2998806118","https://openalex.org/W842509023"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,98,102,113,129,157],"suppress":[3,103],"the":[4,10,13,35,40,46,55,59,64,75,80,83,95,100,104,108,114,124,134,152,159,164,175,177,189],"swing":[5,105],"of":[6,12,42,58,107,123,163],"slung":[7,84,109],"load":[8,48,110],"during":[9,188],"flight":[11],"quadrotor":[14],"unmanned":[15],"aerial":[16],"vehicle":[17],"(UAV),":[18],"a":[19,87,147],"new":[20],"double":[21],"closed-loop":[22],"nonlinear":[23,88,148],"control":[24],"method":[25],"Newton\u2013Euler":[26,65],"is":[27,51,61,71,91,127,171],"proposed":[28,166,178],"based":[29,73,93],"on":[30,74,94],"an":[31,68],"energy":[32,69,96],"function":[33,70,97],"and":[34,54,82,86,137,151,161,184],"LaSalle\u2019s":[36,138],"invariance":[37,139],"theorem.":[38,140],"First,":[39],"forces":[41],"each":[43],"part":[44],"in":[45,117,167],"quadrotor-slung":[47],"system":[49,126],"(QSLS)":[50],"analyzed":[52],"separately,":[53],"dynamics":[56],"model":[57],"QSLS":[60],"established":[62],"by":[63,133],"method.":[66],"Then,":[67],"constructed":[72],"relative":[76],"motion":[77],"relationship":[78],"between":[79],"UAV":[81,101],"load,":[85],"position":[89,116],"controller":[90,150,165,179],"designed":[92],"enable":[99],"angle":[106],"while":[111],"moving":[112],"desired":[115],"three-dimensional":[118],"space.":[119],"The":[120],"equilibrium":[121],"point":[122],"whole":[125],"proved":[128],"be":[130],"asymptotically":[131],"stabilized":[132],"Lyapunov":[135],"technique":[136],"Finally,":[141],"some":[142],"comparisons":[143],"are":[144],"made":[145],"with":[146],"adaptive":[149],"linear":[153],"quadratic":[154],"regulator":[155],"(LQR)":[156],"verify":[158],"effectiveness":[160],"superiority":[162],"this":[168],"article.":[169],"It":[170],"shown":[172],"that":[173],"for":[174],"QSLS,":[176],"has":[180],"faster":[181],"convergence":[182],"speed":[183],"better":[185],"transient":[186],"performance":[187],"anti-swing":[190],"control.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":9}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}