{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,25]],"date-time":"2026-04-25T16:45:25Z","timestamp":1777135525033,"version":"3.51.4"},"reference-count":32,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2023,2,3]],"date-time":"2023-02-03T00:00:00Z","timestamp":1675382400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,2,3]],"date-time":"2023-02-03T00:00:00Z","timestamp":1675382400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2023,3]]},"DOI":"10.1007\/s10514-023-10090-z","type":"journal-article","created":{"date-parts":[[2023,2,3]],"date-time":"2023-02-03T12:03:03Z","timestamp":1675425783000},"page":"267-280","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Adaptive optimal controller design for an unbalanced UAV with slung load"],"prefix":"10.1007","volume":"47","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8669-7934","authenticated-orcid":false,"given":"Mohamed","family":"Tolba","sequence":"first","affiliation":[]},{"given":"Bijan","family":"Shirinzadeh","sequence":"additional","affiliation":[]},{"given":"Gamal","family":"El-Bayoumi","sequence":"additional","affiliation":[]},{"given":"Osama","family":"Mohamady","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,2,3]]},"reference":[{"issue":"4","key":"10090_CR1","first-page":"325","volume":"5","author":"MA Abdelkhalek","year":"2015","unstructured":"Abdelkhalek, M. A., El-Demerdash, M. S., El-Tahan, A. A., & Dief, T. N. (2015). Attitude stability of quadcopter using classic control with angular acceleration. International Journal of Computer Science and Information Technology and Security, 5(4), 325\u2013331.","journal-title":"International Journal of Computer Science and Information Technology and Security"},{"issue":"2","key":"10090_CR2","doi-asserted-by":"publisher","first-page":"573","DOI":"10.2514\/1.36539","volume":"32","author":"M Bisgaard","year":"2009","unstructured":"Bisgaard, M., Bendtsen, J. D., & la Cour-Harbo, A. (2009). Modeling of generic slung load system. Journal of Guidance, Control, and Dynamics, 32(2), 573\u2013585.","journal-title":"Journal of Guidance, Control, and Dynamics"},{"key":"10090_CR3","volume-title":"Advanced control engineering","author":"R Burns","year":"2001","unstructured":"Burns, R. (2001). Advanced control engineering. Elsevier."},{"issue":"8","key":"10090_CR4","doi-asserted-by":"publisher","first-page":"1629","DOI":"10.1007\/s10514-017-9632-2","volume":"41","author":"PJ Cruz","year":"2017","unstructured":"Cruz, P. J., & Fierro, R. (2017). Cable-suspended load lifting by a quadrotor UAV: Hybrid model, trajectory generation, and control. Autonomous Robots, 41(8), 1629\u20131643.","journal-title":"Autonomous Robots"},{"issue":"1","key":"10090_CR5","doi-asserted-by":"publisher","first-page":"172","DOI":"10.1016\/j.ifacol.2018.05.030","volume":"51","author":"H Das","year":"2018","unstructured":"Das, H. (2018). Dynamic inversion control of quadrotor with a suspended load. IFAC-PapersOnLine, 51(1), 172\u2013177.","journal-title":"IFAC-PapersOnLine"},{"key":"10090_CR6","doi-asserted-by":"crossref","unstructured":"El\u00a0Ferik, S., Ahmed, G., & Omar, H.M. (2014). Load swing control for an unmanned aerial vehicle with a slung load. In 2014 IEEE 11th International Multi-Conference on Systems, Signals & Devices (SSD14), pp.\u00a01\u20139. IEEE","DOI":"10.1109\/SSD.2014.6808775"},{"issue":"6","key":"10090_CR7","doi-asserted-by":"publisher","first-page":"1486","DOI":"10.1007\/s12555-014-0304-0","volume":"13","author":"FA Goodarzi","year":"2015","unstructured":"Goodarzi, F. A., Lee, D., & Lee, T. (2015). Geometric control of a quadrotor UAV transporting a payload connected via flexible cable. International Journal of Control, Automation and Systems, 13(6), 1486\u20131498.","journal-title":"International Journal of Control, Automation and Systems"},{"key":"10090_CR8","doi-asserted-by":"publisher","first-page":"433","DOI":"10.1016\/j.isatra.2017.01.027","volume":"68","author":"ME Guerrero-S\u00e1nchez","year":"2017","unstructured":"Guerrero-S\u00e1nchez, M. E., Mercado-Ravell, D. A., Lozano, R., & Garc\u00eda-Beltr\u00e1n, C. D. (2017). Swing-attenuation for a quadrotor transporting a cable-suspended payload. ISA Transactions, 68, 433\u2013449.","journal-title":"ISA Transactions"},{"issue":"1","key":"10090_CR9","doi-asserted-by":"publisher","first-page":"4869","DOI":"10.1016\/j.ifacol.2017.08.976","volume":"50","author":"M Guo","year":"2017","unstructured":"Guo, M., Su, Y., & Gu, D. (2017). Mixed $$h_2\/h_{\\infty }$$ tracking control with constraints for single quadcopter carrying a cable-suspended payload. IFAC-PapersOnLine, 50(1), 4869\u20134874.","journal-title":"IFAC-PapersOnLine"},{"key":"10090_CR10","doi-asserted-by":"crossref","unstructured":"Hong, I., Kuby, M., & Murray, A. (2017). A deviation flow refueling location model for continuous space: A commercial drone delivery system for urban areas. In Advances in Geocomputation,\u2013The 13th International Conference,, pp. 125\u2013132. Springer","DOI":"10.1007\/978-3-319-22786-3_12"},{"key":"10090_CR11","unstructured":"Inc, Q. (2011). Quanser qball-x4: User manual"},{"key":"10090_CR12","unstructured":"Keatmanee, C., Baber, J., & Bakhtyar, M. (2013). Simple example of applying extended kalman filter. In 1st International Electrical Engineering Congress. Thailand: Chiangmai city."},{"issue":"1","key":"10090_CR13","doi-asserted-by":"publisher","first-page":"99","DOI":"10.1007\/s10514-020-09949-2","volume":"45","author":"T Kirven","year":"2021","unstructured":"Kirven, T., & Hoagg, J. B. (2021). Autonomous quadrotor collision avoidance and destination seeking in a gps-denied environment. Autonomous Robots, 45(1), 99\u2013118.","journal-title":"Autonomous Robots"},{"key":"10090_CR14","unstructured":"MathWorks\u00ae, Curve Fitting ToolboxTM: User\u2019s Guide (R2021a), (2021)."},{"key":"10090_CR15","doi-asserted-by":"crossref","unstructured":"Mellinger, D., Lindsey, Q., Shomin, M., Kumar, V.(2011). Design, modeling, estimation and control for aerial grasping and manipulation. In 2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp.\u00a02668\u20132673. IEEE","DOI":"10.1109\/IROS.2011.6094871"},{"key":"10090_CR16","unstructured":"Mellinger, D., Shomin, M., & Kumar, V. (2010). Control of quadrotors for robust perching and landing. In Proceedings of the International Powered Lift Conference, pp. 205\u2013225."},{"issue":"4","key":"10090_CR17","doi-asserted-by":"publisher","first-page":"81","DOI":"10.3390\/electronics5040081","volume":"5","author":"R Porter","year":"2016","unstructured":"Porter, R., Shirinzadeh, B., & Choi, M. (2016). Modelling and daisy chaining control allocation of a multirotor helicopter with a single tilting rotor. Electronics, 5(4), 81.","journal-title":"Electronics"},{"key":"10090_CR18","doi-asserted-by":"crossref","unstructured":"Porter, R., Shirinzadeh, B., & Choi, M. H. (2016). Experimental analysis of variable collective-pitch rotor systems for multirotor helicopter applications. Journal of Intelligent & Robotic Systems, 83(2), 271\u2013288.","DOI":"10.1007\/s10846-015-0311-2"},{"key":"10090_CR19","doi-asserted-by":"crossref","unstructured":"Potdar, N. D., de Croon, G. C., & Alonso-Mora, J. (2020). Online trajectory planning and control of a mav payload system in dynamic environments. Autonomous Robots, 44(6), 1065\u20131089.","DOI":"10.1007\/s10514-020-09919-8"},{"issue":"1","key":"10090_CR20","doi-asserted-by":"publisher","first-page":"119","DOI":"10.1007\/s10514-020-09951-8","volume":"45","author":"B Rub\u00ed","year":"2021","unstructured":"Rub\u00ed, B., Morcego, B., & P\u00e9rez, R. (2021). Deep reinforcement learning for quadrotor path following with adaptive velocity. Autonomous Robots, 45(1), 119\u2013134.","journal-title":"Autonomous Robots"},{"key":"10090_CR21","doi-asserted-by":"publisher","DOI":"10.1155\/2014\/265897","author":"S Sadr","year":"2014","unstructured":"Sadr, S., Moosavian, S. A. A., & Zarafshan, P. (2014). Dynamics modeling and control of a quadrotor with swing load. Journal of Robotics. https:\/\/doi.org\/10.1155\/2014\/265897.","journal-title":"Journal of Robotics"},{"key":"10090_CR22","doi-asserted-by":"crossref","unstructured":"Saraf, P., Gupta, M., & Parimi, A.M. (2020) A comparative study between a classical and optimal controller for a quadrotor. In 2020 IEEE 17th India Council International Conference (INDICON), pp.\u00a01\u20136. IEEE","DOI":"10.1109\/INDICON49873.2020.9342485"},{"issue":"9\u201312","key":"10090_CR23","doi-asserted-by":"publisher","first-page":"3141","DOI":"10.1007\/s00170-017-1363-1","volume":"95","author":"SM Shavarani","year":"2018","unstructured":"Shavarani, S. M., Nejad, M. G., Rismanchian, F., & Izbirak, G. (2018). Application of hierarchical facility location problem for optimization of a drone delivery system: A case study of amazon prime air in the city of san francisco. The International Journal of Advanced Manufacturing Technology, 95(9\u201312), 3141\u20133153.","journal-title":"The International Journal of Advanced Manufacturing Technology"},{"key":"10090_CR24","doi-asserted-by":"crossref","unstructured":"Sreenath, K., Lee, T., & Kumar, V. (2013). Geometric control and differential flatness of a quadrotor UAV with a cable-suspended load. In 52nd IEEE Conference on Decision and Control, pp.\u00a02269\u20132274. IEEE","DOI":"10.1109\/CDC.2013.6760219"},{"key":"10090_CR25","unstructured":"Skogestad, S., & Postlethwaite, I. (1996). Multivariable feedback control. In Analysis and design. Wiley."},{"key":"10090_CR26","unstructured":"Tolba, M., & Shirinzadeh, B. (2021). Modelling and control of an unbalanced tilting-rotors quadcopter with a slung load. In 2021 Australasian Conference on Robotics and Automation (ACRA)."},{"key":"10090_CR27","doi-asserted-by":"publisher","first-page":"107394","DOI":"10.1016\/j.ast.2022.107394","volume":"121","author":"M Tolba","year":"2022","unstructured":"Tolba, M., & Shirinzadeh, B. (2022). Generic modeling and control of unbalanced multirotor UAVs. Aerospace Science and Technology, 121, 107394.","journal-title":"Aerospace Science and Technology"},{"key":"10090_CR28","doi-asserted-by":"crossref","unstructured":"Vey, D., & Lunze, J.(2015). Structural reconfigurability analysis of multirotor UAVs after actuator failures. In 2015 54th IEEE Conference on Decision and Control (CDC), pp.\u00a05097\u20135104. IEEE","DOI":"10.1109\/CDC.2015.7403017"},{"issue":"2","key":"10090_CR29","doi-asserted-by":"publisher","first-page":"267","DOI":"10.1007\/s10846-019-01088-w","volume":"98","author":"DK Villa","year":"2020","unstructured":"Villa, D. K., Brandao, A. S., & Sarcinelli-Filho, M. (2020). A survey on load transportation using multirotor UAVs. Journal of Intelligent & Robotic Systems, 98(2), 267\u2013296.","journal-title":"Journal of Intelligent & Robotic Systems"},{"issue":"3","key":"10090_CR30","doi-asserted-by":"publisher","first-page":"1463","DOI":"10.1007\/s11071-015-1955-y","volume":"80","author":"X Wang","year":"2015","unstructured":"Wang, X., & Shirinzadeh, B. (2015). Nonlinear augmented observer design and application to quadrotor aircraft. Nonlinear Dynamics, 80(3), 1463\u20131481.","journal-title":"Nonlinear Dynamics"},{"issue":"2","key":"10090_CR31","doi-asserted-by":"publisher","first-page":"1189","DOI":"10.1109\/TIE.2014.2341571","volume":"62","author":"X Wang","year":"2014","unstructured":"Wang, X., Shirinzadeh, B., & Ang, M. H. (2014). Nonlinear double-integral observer and application to quadrotor aircraft. IEEE Transactions on Industrial Electronics, 62(2), 1189\u20131200.","journal-title":"IEEE Transactions on Industrial Electronics"},{"key":"10090_CR32","doi-asserted-by":"crossref","unstructured":"Zeng, J., & Sreenath, K. (2019). Geometric control of a quadrotor with a load suspended from an offset. In 2019 American Control Conference (ACC), pp.\u00a03044\u20133050. IEEE","DOI":"10.23919\/ACC.2019.8814939"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-023-10090-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10514-023-10090-z\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-023-10090-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,3,6]],"date-time":"2023-03-06T01:03:24Z","timestamp":1678064604000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10514-023-10090-z"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,2,3]]},"references-count":32,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2023,3]]}},"alternative-id":["10090"],"URL":"https:\/\/doi.org\/10.1007\/s10514-023-10090-z","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,2,3]]},"assertion":[{"value":"18 January 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"17 January 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"3 February 2023","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}