{"id":"https://openalex.org/W4392231815","doi":"https://doi.org/10.1142/s2301385025500311","title":"An Input\u2013Output Feedback Linearization-Based Exponentially Stable Controller for Multi-UAV Payload Transport","display_name":"An Input\u2013Output Feedback Linearization-Based Exponentially Stable Controller for Multi-UAV Payload Transport","publication_year":2024,"publication_date":"2024-02-28","ids":{"openalex":"https://openalex.org/W4392231815","doi":"https://doi.org/10.1142/s2301385025500311"},"language":"en","primary_location":{"id":"doi:10.1142/s2301385025500311","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385025500311","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://mpra.ub.uni-muenchen.de/85053/2/MPRA_paper_85053.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014416757","display_name":"N.D. Rao","orcid":"https://orcid.org/0000-0001-7570-1897"},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]},{"id":"https://openalex.org/I59270414","display_name":"Indian Institute of Science Bangalore","ror":"https://ror.org/04dese585","country_code":"IN","type":"education","lineage":["https://openalex.org/I59270414"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Nishanth Rao","raw_affiliation_strings":["Department of Aerospace Engineering, Indian Institute of Science, CV Raman Road, Bengaluru, Karnataka, India","Artificial Intelligence and Robotics Lab, Department of Aerospace Engineering, Indian Institute of Science, Bengaluru, India, 560012","the Artificial Intelligence and Robotics Lab, Depart-ment of Aerospace Engineering, Indian Institute of Science, Bengaluru, India, 560012"],"raw_orcid":"https://orcid.org/0000-0001-7570-1897","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Indian Institute of Science, CV Raman Road, Bengaluru, Karnataka, India","institution_ids":["https://openalex.org/I59270414"]},{"raw_affiliation_string":"Artificial Intelligence and Robotics Lab, Department of Aerospace Engineering, Indian Institute of Science, Bengaluru, India, 560012","institution_ids":["https://openalex.org/I4210121405"]},{"raw_affiliation_string":"the Artificial Intelligence and Robotics Lab, Depart-ment of Aerospace Engineering, Indian Institute of Science, Bengaluru, India, 560012","institution_ids":["https://openalex.org/I4210121405"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100765440","display_name":"Suresh Sundaram","orcid":"https://orcid.org/0000-0001-6275-0921"},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]},{"id":"https://openalex.org/I59270414","display_name":"Indian Institute of Science Bangalore","ror":"https://ror.org/04dese585","country_code":"IN","type":"education","lineage":["https://openalex.org/I59270414"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Suresh Sundaram","raw_affiliation_strings":["Department of Aerospace Engineering, Indian Institute of Science, CV Raman Road, Bengaluru, Karnataka, India","Artificial Intelligence and Robotics Lab, Department of Aerospace Engineering, Indian Institute of Science, Bengaluru, India, 560012","the Artificial Intelligence and Robotics Lab, Depart-ment of Aerospace Engineering, Indian Institute of Science, Bengaluru, India, 560012"],"raw_orcid":"https://orcid.org/0000-0001-6275-0921","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Indian Institute of Science, CV Raman Road, Bengaluru, Karnataka, India","institution_ids":["https://openalex.org/I59270414"]},{"raw_affiliation_string":"Artificial Intelligence and Robotics Lab, Department of Aerospace Engineering, Indian Institute of Science, Bengaluru, India, 560012","institution_ids":["https://openalex.org/I4210121405"]},{"raw_affiliation_string":"the Artificial Intelligence and Robotics Lab, Depart-ment of Aerospace Engineering, Indian Institute of Science, Bengaluru, India, 560012","institution_ids":["https://openalex.org/I4210121405"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5014416757"],"corresponding_institution_ids":["https://openalex.org/I4210121405","https://openalex.org/I59270414"],"apc_list":null,"apc_paid":null,"fwci":0.9001,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.7211392,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"13","issue":"02","first_page":"521","last_page":"539"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9976000189781189,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9975000023841858,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.9013455510139465},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7869263291358948},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6566427946090698},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5883395075798035},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.546369194984436},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5288777351379395},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.47424381971359253},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3626367449760437},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29872727394104004},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1442871391773224},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11421242356300354},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.05854463577270508}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.9013455510139465},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7869263291358948},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6566427946090698},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5883395075798035},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.546369194984436},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5288777351379395},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.47424381971359253},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3626367449760437},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29872727394104004},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1442871391773224},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11421242356300354},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.05854463577270508},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1142/s2301385025500311","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385025500311","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","raw_type":"journal-article"},{"id":"pmh:oai::85053","is_oa":true,"landing_page_url":"https://eprints.iisc.ac.in/85053/1/Unm_sys_2024","pdf_url":"https://mpra.ub.uni-muenchen.de/85053/2/MPRA_paper_85053.pdf","source":{"id":"https://openalex.org/S4306401429","display_name":"ePrints@IISc (Indian Institute of Science)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I59270414","host_organization_name":"Indian Institute of Science Bangalore","host_organization_lineage":["https://openalex.org/I59270414"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai::85053","is_oa":true,"landing_page_url":"https://eprints.iisc.ac.in/85053/1/Unm_sys_2024","pdf_url":"https://mpra.ub.uni-muenchen.de/85053/2/MPRA_paper_85053.pdf","source":{"id":"https://openalex.org/S4306401429","display_name":"ePrints@IISc (Indian Institute of Science)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I59270414","host_organization_name":"Indian Institute of Science Bangalore","host_organization_lineage":["https://openalex.org/I59270414"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.7300000190734863,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320325255","display_name":"Ministry of Electronics and Information technology","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4392231815.pdf","grobid_xml":"https://content.openalex.org/works/W4392231815.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W306312984","https://openalex.org/W1499219562","https://openalex.org/W1853434111","https://openalex.org/W1964373008","https://openalex.org/W1978150223","https://openalex.org/W2022750648","https://openalex.org/W2023345033","https://openalex.org/W2025990330","https://openalex.org/W2060575197","https://openalex.org/W2103641605","https://openalex.org/W2295546444","https://openalex.org/W2418068707","https://openalex.org/W2585814306","https://openalex.org/W2587159109","https://openalex.org/W2769650116","https://openalex.org/W2889905734","https://openalex.org/W2951607144","https://openalex.org/W2964208658","https://openalex.org/W3009226446","https://openalex.org/W3082762787","https://openalex.org/W3132087422","https://openalex.org/W3152096498","https://openalex.org/W3168913804","https://openalex.org/W3170845014","https://openalex.org/W3201459296","https://openalex.org/W3208322962","https://openalex.org/W4206220130","https://openalex.org/W4283760052","https://openalex.org/W4320004989","https://openalex.org/W4385422652","https://openalex.org/W4386472976","https://openalex.org/W4387247676","https://openalex.org/W4389538176"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W4288094128","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W2312786236","https://openalex.org/W20648474","https://openalex.org/W2018658498"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"an":[3],"exponentially":[4,91,190],"stable":[5,191],"trajectory":[6,76,192],"tracking":[7,77,84,127,151],"controller":[8,159,182],"is":[9,63,87,129,140,160,183],"proposed":[10,107,144,158,181],"for":[11,65,75,112,150],"multi-UAV":[12,16],"payload":[13,17,35,54,170,172],"transport.":[14],"The":[15,126,175],"system":[18,69],"has":[19,146],"a":[20,113,119],"2-DOF":[21],"magnetic":[22],"spherical":[23],"joint":[24],"between":[25],"the":[26,29,34,39,53,66,79,98,103,106,110,132,136,143,147,154,157,169,180],"UAVs":[27,40],"and":[28,55,138,171,185],"vertical":[30,47],"rigid":[31],"links":[32,48],"of":[33,78,83,105,156],"frame":[36],"so":[37],"that":[38,142,179],"can":[41],"roll":[42],"or":[43],"pitch":[44],"freely.":[45],"These":[46],"are":[49,124],"rigidly":[50],"attached":[51],"to":[52,89,131],"cannot":[56],"move.":[57],"An":[58],"input\u2013output":[59],"feedback":[60],"linearized":[61],"model":[62],"derived":[64],"complete":[67],"payload-UAV":[68],"along":[70,97],"with":[71],"thrust":[72],"vectoring":[73],"control":[74,85,108],"payload.":[80],"Theoretical":[81],"analysis":[82],"laws":[86],"shown":[88],"be":[90],"stable,":[92],"thus":[93],"guaranteeing":[94],"safe":[95],"transportation":[96],"desired":[99],"trajectory.":[100],"To":[101],"validate":[102],"performance":[104,128],"law,":[109],"results":[111,176],"numerical":[114],"simulation":[115,123],"as":[116,118],"well":[117],"high-fidelity":[120],"Gazebo":[121],"real-time":[122],"presented.":[125],"compared":[130],"existing":[133],"techniques":[134],"in":[135],"literature,":[137],"it":[139],"seen":[141],"approach":[145],"least":[148],"RMSE":[149],"performance.":[152],"Next,":[153],"robustness":[155],"analyzed":[161],"against":[162],"two":[163],"practical":[164],"situations:":[165],"External":[166],"disturbance":[167],"on":[168],"mass":[173],"uncertainty.":[174],"clearly":[177],"indicate":[178],"robust":[184],"computationally":[186],"efficient":[187],"while":[188],"achieving":[189],"tracking.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
