{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,13]],"date-time":"2026-05-13T22:33:13Z","timestamp":1778711593165,"version":"3.51.4"},"reference-count":37,"publisher":"Springer Science and Business Media LLC","issue":"7","license":[{"start":{"date-parts":[[2020,7,25]],"date-time":"2020-07-25T00:00:00Z","timestamp":1595635200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2020,7,25]],"date-time":"2020-07-25T00:00:00Z","timestamp":1595635200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"name":"National Key Research and Development Program of China","award":["2017YFC1405401"],"award-info":[{"award-number":["2017YFC1405401"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["91748130"],"award-info":[{"award-number":["91748130"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61821005"],"award-info":[{"award-number":["61821005"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012492","name":"Youth Innovation Promotion Association","doi-asserted-by":"publisher","award":["2018232"],"award-info":[{"award-number":["2018232"]}],"id":[{"id":"10.13039\/501100012492","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2020,9]]},"DOI":"10.1007\/s10514-020-09935-8","type":"journal-article","created":{"date-parts":[[2020,7,25]],"date-time":"2020-07-25T10:02:26Z","timestamp":1595671346000},"page":"1271-1285","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Wind disturbance rejection for unmanned aerial vehicles using acceleration feedback enhanced $$H_\\infty $$ method"],"prefix":"10.1007","volume":"44","author":[{"given":"Bo","family":"Dai","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5067-1169","authenticated-orcid":false,"given":"Yuqing","family":"He","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guangyu","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Feng","family":"Gu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Liying","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Weiliang","family":"Xu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2020,7,25]]},"reference":[{"key":"9935_CR1","unstructured":"Bouabdallah, S., Noth, A., & Siegwart, R. (2004). Pid versus lq control techniques applied to an indoor micro quadrotor. In Proceedings of The IEEE international conference on intelligent robots and systems (IROS) (pp. 2451\u20132456) IEEE."},{"key":"9935_CR2","doi-asserted-by":"publisher","first-page":"236","DOI":"10.1016\/j.robot.2018.06.011","volume":"107","author":"C Chen","year":"2018","unstructured":"Chen, C., Gao, H., Ding, L., Li, W., Yu, H., & Deng, Z. (2018). Trajectory tracking control of wmrs with lateral and longitudinal slippage based on active disturbance rejection control. Robotics and Autonomous Systems, 107, 236\u2013245.","journal-title":"Robotics and Autonomous Systems"},{"key":"9935_CR3","doi-asserted-by":"crossref","unstructured":"Chen, M., & Huzmezan, M. (2003). A combined mbpc\/2 dof h infinity controller for a quad rotor uav. In AIAA guidance, navigation, and control conference and exhibit (p. 5520).","DOI":"10.2514\/6.2003-5520"},{"key":"9935_CR4","doi-asserted-by":"crossref","unstructured":"Dai, B., He, Y., Zhang, G., Gu, F., Yang, L., & Xu, W. (2018). Wind disturbance rejection for unmanned aerial vehicle based on acceleration feedback method. In 2018 IEEE conference on decision and control (CDC), IEEE (pp. 4680\u20134686).","DOI":"10.1109\/CDC.2018.8619798"},{"issue":"5","key":"9935_CR5","doi-asserted-by":"publisher","first-page":"20","DOI":"10.1109\/37.320883","volume":"14","author":"B De Jager","year":"1994","unstructured":"De Jager, B. (1994). Acceleration assisted tracking control. IEEE Control Systems, 14(5), 20\u201327.","journal-title":"IEEE Control Systems"},{"issue":"2","key":"9935_CR6","doi-asserted-by":"publisher","first-page":"1741","DOI":"10.3182\/20080706-5-KR-1001.00298","volume":"41","author":"I Fantoni","year":"2008","unstructured":"Fantoni, I., Lozano, R., & Kendoul, F. (2008). Asymptotic stability of hierarchical inner-outer loop-based flight controllers. IFAC Proceedings Volumes, 41(2), 1741\u20131746.","journal-title":"IFAC Proceedings Volumes"},{"issue":"4","key":"9935_CR7","doi-asserted-by":"publisher","first-page":"421","DOI":"10.1002\/rnc.4590040403","volume":"4","author":"P Gahinet","year":"1994","unstructured":"Gahinet, P., & Apkarian, P. (1994). A linear matrix inequality approach to $$h_\\infty $$ control. International Journal of Robust and Nonlinear Control, 4(4), 421\u2013448.","journal-title":"International Journal of Robust and Nonlinear Control"},{"issue":"3","key":"9935_CR8","doi-asserted-by":"publisher","first-page":"900","DOI":"10.1109\/TIE.2008.2011621","volume":"56","author":"J Han","year":"2009","unstructured":"Han, J. (2009). From pid to active disturbance rejection control. IEEE Transactions on Industrial Electronics, 56(3), 900\u2013906.","journal-title":"IEEE Transactions on Industrial Electronics"},{"key":"9935_CR9","doi-asserted-by":"crossref","unstructured":"Han, J., Wang, Y., Tan, D., & Xu, W. (2000). Acceleration feedback control for direct-drive motor system. In Proceedings 2000 IEEE\/RSJ international conference on intelligent robots and systems (Vol.\u00a02, pp. 1068\u20131074), (IROS 2000), IEEE.","DOI":"10.1109\/IROS.2000.893161"},{"issue":"9","key":"9935_CR10","doi-asserted-by":"publisher","first-page":"524","DOI":"10.1016\/j.mechatronics.2007.05.006","volume":"17","author":"J Han","year":"2007","unstructured":"Han, J., He, Y., & Xu, W. (2007). Angular acceleration estimation and feedback control: An experimental investigation. Mechatronics, 17(9), 524\u2013532.","journal-title":"Mechatronics"},{"key":"9935_CR11","doi-asserted-by":"crossref","unstructured":"He, Y., & Han, J. (2007). Acceleration feedback enhanced $$h_\\infty $$ disturbance attenuation control. In 33rd annual conference of the IEEE industrial electronics society (pp. 839\u2013844), IECON 2007. IEEE.","DOI":"10.1109\/IECON.2007.4460097"},{"issue":"4","key":"9935_CR12","doi-asserted-by":"publisher","first-page":"1236","DOI":"10.2514\/1.45659","volume":"33","author":"Y He","year":"2010","unstructured":"He, Y., & Han, J. (2010). Acceleration-feedback-enhanced robust control of an unmanned helicopter. Journal of Guidance, Control, and Dynamics, 33(4), 1236\u20131250.","journal-title":"Journal of Guidance, Control, and Dynamics"},{"key":"9935_CR13","volume-title":"Nonlinear control systems","author":"A Isidori","year":"2013","unstructured":"Isidori, A. (2013). Nonlinear control systems. Berlin: Springer."},{"issue":"3","key":"9935_CR14","doi-asserted-by":"publisher","first-page":"311","DOI":"10.1002\/rob.20327","volume":"27","author":"F Kendoul","year":"2010","unstructured":"Kendoul, F., Yu, Z., & Nonami, K. (2010). Guidance and nonlinear control system for autonomous flight of minirotorcraft unmanned aerial vehicles. Journal of Field Robotics, 27(3), 311\u2013334.","journal-title":"Journal of Field Robotics"},{"issue":"8","key":"9935_CR15","doi-asserted-by":"publisher","first-page":"1905","DOI":"10.1109\/TAC.2010.2049522","volume":"55","author":"KS Kim","year":"2010","unstructured":"Kim, K. S., Rew, K. H., & Kim, S. (2010). Disturbance observer for estimating higher order disturbances in time series expansion. IEEE Transactions on Automatic Control, 55(8), 1905\u20131911.","journal-title":"IEEE Transactions on Automatic Control"},{"key":"9935_CR16","doi-asserted-by":"crossref","unstructured":"Kobilarov, M. (2013). Trajectory tracking of a class of underactuated systems with external disturbances. In 2013 American control conference (pp. 1044\u20131049), IEEE.","DOI":"10.1109\/ACC.2013.6579974"},{"issue":"3","key":"9935_CR17","doi-asserted-by":"publisher","first-page":"419","DOI":"10.1007\/s12555-009-0311-8","volume":"7","author":"D Lee","year":"2009","unstructured":"Lee, D., Kim, H. J., & Sastry, S. (2009). Feedback linearization versus adaptive sliding mode control for a quadrotor helicopter. International Journal of Control, Automation and Systems, 7(3), 419\u2013428.","journal-title":"International Journal of Control, Automation and Systems"},{"key":"9935_CR18","doi-asserted-by":"crossref","unstructured":"Lee, T. (2015). Geometric controls for a tethered quadrotor uav. In 2015 54th IEEE conference on decision and control (CDC) (pp. 2749\u20132754), IEEE","DOI":"10.1109\/CDC.2015.7402632"},{"key":"9935_CR19","doi-asserted-by":"crossref","unstructured":"Lee, T., Leoky, M., & McClamroch, N. H. (2010). Geometric tracking control of a quadrotor uav on se (3). In 2010 49th IEEE conference on decision and control (CDC) (pp. 5420\u20135425), IEEE.","DOI":"10.1109\/CDC.2010.5717652"},{"key":"9935_CR20","unstructured":"Lee, Y. M., Kang, J. K., & Sul, S. K. (1999). Acceleration feedback control strategy for improving riding quality of elevator system. In Thirty-Fourth IAS annual meeting. Industry applications conference, Conference Record of the 1999 IEEE (Vol.\u00a02, pp. 1375\u20131379), IEEE."},{"key":"9935_CR21","doi-asserted-by":"crossref","unstructured":"Madani, T., & Benallegue, A. (2006). Backstepping control for a quadrotor helicopter. In 2006 IEEE\/RSJ international conference on intelligent robots and systems (pp. 3255\u20133260), IEEE.","DOI":"10.1109\/IROS.2006.282433"},{"key":"9935_CR22","doi-asserted-by":"crossref","unstructured":"Madani, T., & Benallegue, A. (2007). Sliding mode observer and backstepping control for a quadrotor unmanned aerial vehicles. In American control conference (pp. 5887\u20135892), 2007. ACC\u201907, IEEE.","DOI":"10.1109\/ACC.2007.4282548"},{"key":"9935_CR23","doi-asserted-by":"crossref","unstructured":"Mellinger, D., & Kumar, V. (2011). Minimum snap trajectory generation and control for quadrotors. In 2011 IEEE international conference on robotics and automation (pp. 2520\u20132525), IEEE.","DOI":"10.1109\/ICRA.2011.5980409"},{"key":"9935_CR24","doi-asserted-by":"crossref","unstructured":"Mokhtari, A., Benallegue, A., & Daachi, B. (2005). Robust feedback linearization and g$$h_\\infty $$ controller for a quadrotor unmanned aerial vehicle. In 2005 IEEE\/RSJ international conference on intelligent robots and systems (pp. 1198\u20131203), IEEE.","DOI":"10.1109\/IROS.2005.1545112"},{"issue":"1","key":"9935_CR25","doi-asserted-by":"publisher","first-page":"44","DOI":"10.1109\/TIE.1987.350923","volume":"34","author":"K Ohishi","year":"1987","unstructured":"Ohishi, K., Nakao, M., Ohnishi, K., & Miyachi, K. (1987). Microprocessor-controlled dc motor for load-insensitive position servo system. IEEE Transactions on Industrial Electronics, 34(1), 44\u201349.","journal-title":"IEEE Transactions on Industrial Electronics"},{"issue":"3","key":"9935_CR26","doi-asserted-by":"publisher","first-page":"290","DOI":"10.1002\/rob.21615","volume":"33","author":"J Qi","year":"2016","unstructured":"Qi, J., Song, D., Shang, H., Wang, N., Hua, C., Wu, C., et al. (2016). Search and rescue rotary-wing uav and its application to the lushan ms 7.0 earthquake. Journal of Field Robotics, 33(3), 290\u2013321.","journal-title":"Journal of Field Robotics"},{"key":"9935_CR27","unstructured":"Soule, H. A., & Miller, M. P. (1934). The experimental determination of the moments of inertia of airplanes. Technical Report Archive and Image Library"},{"key":"9935_CR28","doi-asserted-by":"crossref","unstructured":"Studenny, J., & Belanger, P. R. (1984). Robot manipulator control by acceleration feedback. In The 23rd IEEE conference on decision and control (Vol.\u00a023, pp. 1070\u20131072), IEEE.","DOI":"10.1109\/CDC.1984.272177"},{"key":"9935_CR29","doi-asserted-by":"crossref","unstructured":"Studenny, J., Belanger, P., & Daneshmend, L. (1991). A digital implementation of the acceleration feedback control law on a puma 560 manipulator. In Proceedings of the 30th IEEE conference on decision and control (pp. 2639\u20132648), IEEE.","DOI":"10.1109\/CDC.1991.261831"},{"issue":"9","key":"9935_CR30","doi-asserted-by":"publisher","first-page":"091013","DOI":"10.1115\/1.4033631","volume":"138","author":"J Su","year":"2016","unstructured":"Su, J., Chen, W. H., & Yang, J. (2016). On relationship between time-domain and frequency-domain disturbance observers and its applications. Journal of Dynamic Systems, Measurement, and Control, 138(9), 091013.","journal-title":"Journal of Dynamic Systems, Measurement, and Control"},{"issue":"3","key":"9935_CR31","first-page":"381","volume":"29","author":"XY Sun","year":"2012","unstructured":"Sun, X. Y., Fang, Y. C., & Sun, N. (2012). Backstepping-based adaptive attitude and height control of a small-scale unmanned helicopter. Control Theory and Applications, 29(3), 381\u2013388.","journal-title":"Control Theory and Applications"},{"key":"9935_CR32","doi-asserted-by":"crossref","unstructured":"Tomic T (2014) Evaluation of acceleration-based disturbance observation for multicopter control. In Control conference (ECC), 2014 European (pp. 2937\u20132944), IEEE.","DOI":"10.1109\/ECC.2014.6862237"},{"issue":"6","key":"9935_CR33","doi-asserted-by":"publisher","first-page":"675","DOI":"10.1177\/0142331215597057","volume":"38","author":"H Wang","year":"2016","unstructured":"Wang, H., & Chen, M. (2016). Trajectory tracking control for an indoor quadrotor uav based on the disturbance observer. Transactions of the Institute of Measurement and Control, 38(6), 675\u2013692.","journal-title":"Transactions of the Institute of Measurement and Control"},{"issue":"3","key":"9935_CR34","doi-asserted-by":"publisher","first-page":"725","DOI":"10.1016\/j.isatra.2014.01.004","volume":"53","author":"JJ Xiong","year":"2014","unstructured":"Xiong, J. J., & Zheng, E. H. (2014). Position and attitude tracking control for a quadrotor uav. ISA Transactions, 53(3), 725\u2013731.","journal-title":"ISA Transactions"},{"issue":"11","key":"9935_CR35","doi-asserted-by":"publisher","first-page":"8676","DOI":"10.1109\/TIE.2017.2703678","volume":"64","author":"B Xu","year":"2017","unstructured":"Xu, B., Wang, D., Zhang, Y., & Shi, Z. (2017). Dob based neural control of flexible hypersonic flight vehicle considering wind effects. IEEE Transactions on Industrial Electronics, 64(11), 8676\u20138685.","journal-title":"IEEE Transactions on Industrial Electronics"},{"issue":"3","key":"9935_CR36","doi-asserted-by":"publisher","first-page":"292","DOI":"10.1109\/3516.868921","volume":"5","author":"W Xu","year":"2000","unstructured":"Xu, W., Han, J., & Tso, S. (2000). Experimental study of contact transition control incorporating joint acceleration feedback. IEEE\/ASME Transactions on Mechatronics, 5(3), 292\u2013301.","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"key":"9935_CR37","doi-asserted-by":"crossref","unstructured":"Yang, S., Li, K., & Shi, J. (2009). Design and simulation of the longitudinal autopilot of uav based on self-adaptive fuzzy pid control. In 2009 international conference on computational intelligence and security (pp. 634\u2013638), IEEE.","DOI":"10.1109\/CIS.2009.253"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-020-09935-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10514-020-09935-8\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-020-09935-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,7,24]],"date-time":"2021-07-24T23:18:37Z","timestamp":1627168717000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10514-020-09935-8"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,7,25]]},"references-count":37,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2020,9]]}},"alternative-id":["9935"],"URL":"https:\/\/doi.org\/10.1007\/s10514-020-09935-8","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,7,25]]},"assertion":[{"value":"27 December 2018","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"15 July 2020","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"25 July 2020","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}