{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,7]],"date-time":"2025-11-07T13:26:22Z","timestamp":1762521982032,"version":"3.37.3"},"reference-count":34,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2016,11,24]],"date-time":"2016-11-24T00:00:00Z","timestamp":1479945600000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2017,8]]},"DOI":"10.1007\/s10846-016-0441-1","type":"journal-article","created":{"date-parts":[[2016,11,23]],"date-time":"2016-11-23T21:14:31Z","timestamp":1479935671000},"page":"341-362","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":21,"title":["Energy Based 3D Autopilot for VTOL UAV Under Guidance & Navigation Constraints"],"prefix":"10.1007","volume":"87","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8400-9912","authenticated-orcid":false,"given":"Y.","family":"Bouzid","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"H.","family":"Siguerdidjane","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Y.","family":"Bestaoui","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.","family":"Zareb","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2016,11,24]]},"reference":[{"key":"441_CR1","doi-asserted-by":"crossref","unstructured":"Bouabdallah, S., Noth, A., Siegwart, R.: PID vs LQ control techniques applied to an indoor micro quadrotor. In: IROS 2004 Proceedings of the IEEE RSJ International Conference on Intelligent Robots and Systems, vol. 3, pp. 2451\u20132456 (2004)","DOI":"10.1109\/IROS.2004.1389776"},{"issue":"2","key":"441_CR2","doi-asserted-by":"publisher","first-page":"315","DOI":"10.1007\/s10846-016-0333-4","volume":"83","author":"C Wang","year":"2016","unstructured":"Wang, C., Song, B., Huang, P., Tang, C.: Trajectory Tracking Control for Quadrotor Robot Subject to Payload Variation and Wind Gust Disturbance. J. Intell. Robot. Syst. 83(2), 315\u2013333 (2016). doi: 10.1007\/s10846-016-0333-4","journal-title":"J. Intell. Robot. Syst."},{"key":"441_CR3","doi-asserted-by":"publisher","first-page":"47","DOI":"10.1016\/j.conengprac.2016.04.016","volume":"53","author":"C Izaguirre-Espinosa","year":"2016","unstructured":"Izaguirre-Espinosa, C., Mu\u00f1oz-V\u00e1zquez, A.J., S\u00e1nchez-Orta, A., Parra-Vega, V., Sanahuja, G.: Fractional attitude-reactive control for robust quadrotor position stabilization without resolving underactuation. Control. Eng. Pract. 53, 47\u201356 (2016). doi: 10.1016\/j.conengprac.2016.04.016 . http:\/\/www.sciencedirect.com\/science\/article\/pii\/S0967066116300867","journal-title":"Control. Eng. Pract."},{"key":"441_CR4","doi-asserted-by":"publisher","first-page":"177","DOI":"10.1016\/j.robot.2016.05.005","volume":"83","author":"W Dong","year":"2016","unstructured":"Dong, W., Gu, G.-Y., Zhu, X., Ding, H.: A high-performance flight control approach for quadrotors using a modified active disturbance rejection technique. Robot. Auton. Syst. 83, 177\u2013187 (2016). doi: 10.1016\/j.robot.2016.05.005 . http:\/\/www.sciencedirect.com\/science\/article\/pii\/ S0921889015300920","journal-title":"Robot. Auton. Syst."},{"issue":"4","key":"441_CR5","doi-asserted-by":"publisher","first-page":"297","DOI":"10.1007\/s11768-015-4062-1","volume":"13","author":"A Abaspour","year":"2015","unstructured":"Abaspour, A., Sadati, S.H., Sadeghi, M.: Nonlinear optimized adaptive trajectory control of helicopter. Control Theory and Technology 13(4), 297\u2013310 (2015). doi: 10.1007\/s11768-015-4062-1 . http:\/\/link.springer.com\/article\/10.1007\/s11768-015-4062-1","journal-title":"Control Theory and Technology"},{"issue":"4","key":"441_CR6","doi-asserted-by":"publisher","first-page":"1334","DOI":"10.1109\/TMECH.2013.2263963","volume":"18","author":"D Lee","year":"2013","unstructured":"Lee, D., Franchi, A., Son, H.I., Ha, C., B\u00fclthoff, H.H., Giordano, P.R.: Semiautonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles. IEEE\/ASME Transactions on Mechatronics 18(4), 1334\u20131345 (2013). doi: 10.1109\/TMECH.2013.2263963","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"issue":"3","key":"441_CR7","doi-asserted-by":"publisher","first-page":"743","DOI":"10.1109\/TRO.2008.2011419","volume":"25","author":"O Bourquardez","year":"2009","unstructured":"Bourquardez, O., Mahony, R., Guenard, N., Chaumette, F., Hamel, T., Eck, L.: Image-Based Visual Servo Control of the Translation Kinematics of a Quadrotor Aerial Vehicle. IEEE Trans. Robot. 25(3), 743\u2013749 (2009). doi: 10.1109\/TRO.2008.2011419","journal-title":"IEEE Trans. Robot."},{"key":"441_CR8","doi-asserted-by":"crossref","unstructured":"Augugliaro, F., D\u2019Andrea, R.: Admittance control for physical human-quadrocopter interaction (2013)","DOI":"10.23919\/ECC.2013.6669643"},{"key":"441_CR9","doi-asserted-by":"publisher","unstructured":"Lippiello, V., Ruggiero, F.: Exploiting redundancy in Cartesian impedance control of UAVs equipped with a robotic arm. In: 2012 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 3768\u20133773 (2012), doi: 10.1109\/IROS.2012.6386021","DOI":"10.1109\/IROS.2012.6386021"},{"key":"441_CR10","doi-asserted-by":"publisher","unstructured":"Pounds, P.E.I., Dollar, A.M.: UAV rotorcraft in compliant contact: Stability analysis and simulation. In: 2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 2660\u20132667 (2011), doi: 10.1109\/IROS.2011.6095086","DOI":"10.1109\/IROS.2011.6095086"},{"key":"441_CR11","doi-asserted-by":"publisher","unstructured":"Fumagalli, M., Naldi, R., Macchelli, A., Carloni, R., Stramigioli, S., Marconi, L.: Modeling and control of a flying robot for contact inspection. In: 2012 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 3532\u20133537 (2012), doi: 10.1109\/IROS.2012.6385917","DOI":"10.1109\/IROS.2012.6385917"},{"key":"441_CR12","doi-asserted-by":"publisher","unstructured":"Kalantari, A., Spenko, M.: Design and experimental validation of HyTAQ, a Hybrid Terrestrial and Aerial Quadrotor. In: 2013 IEEE International Conference on Robotics and Automation (ICRA), pp. 4445\u20134450 (2013), doi: 10.1109\/ICRA.2013.6631208","DOI":"10.1109\/ICRA.2013.6631208"},{"issue":"5","key":"441_CR13","doi-asserted-by":"publisher","first-page":"371","DOI":"10.1016\/S0167-6911(01)00195-5","volume":"45","author":"S Prajna","year":"2002","unstructured":"Prajna, S., van der Schaft, A., Meinsma, G.: An LMI approach to stabilization of linear port-controlled Hamiltonian systems. Syst. Control Lett. 45(5), 371\u2013385 (2002). doi: 10.1016\/S0167-6911(01)00195-5 . http:\/\/www.sciencedirect.com\/science\/article\/pii\/S0167691101001955","journal-title":"Syst. Control Lett."},{"issue":"8","key":"441_CR14","doi-asserted-by":"publisher","first-page":"1910","DOI":"10.1016\/j.automatica.2009.04.006","volume":"45","author":"A Donaire","year":"2009","unstructured":"Donaire, A., Junco, S.: On the addition of integral action to port-controlled Hamiltonian systems. Automatica 45(8), 1910\u20131916 (2009). doi: 10.1016\/j.automatica.2009.04.006 . http:\/\/www.sciencedirect.com\/science\/article\/pii\/S0005109809002076","journal-title":"Automatica"},{"key":"441_CR15","unstructured":"Schaft, A.v.d.: L2 - Gain and Passivity Techniques in Nonlinear Control. Springer Science & Business Media. google-Books-ID: AInfBwAAQBAJ (2012)"},{"issue":"2","key":"441_CR16","doi-asserted-by":"publisher","first-page":"18","DOI":"10.1109\/37.915398","volume":"21","author":"R Ortega","year":"2001","unstructured":"Ortega, R., Schaft, A.J.V.D., Mareels, I., Maschke, B.: Putting energy back in control. IEEE Control. Syst. 21(2), 18\u201333 (2001). doi: 10.1109\/37.915398","journal-title":"IEEE Control. Syst."},{"issue":"5","key":"441_CR17","doi-asserted-by":"publisher","first-page":"432","DOI":"10.3166\/ejc.10.432-450","volume":"10","author":"R Ortega","year":"2004","unstructured":"Ortega, R., Garc\u00eda-Canseco, E.: Interconnection and Damping Assignment Passivity-Based Control: A Survey. Eur. J. Control. 10(5), 432\u2013450 (2004). doi: 10.3166\/ejc.10.432-450","journal-title":"Eur. J. Control."},{"issue":"3","key":"441_CR18","doi-asserted-by":"crossref","first-page":"1760","DOI":"10.3182\/20140824-6-ZA-1003.01705","volume":"47","author":"S Nageshrao","year":"2014","unstructured":"Nageshrao, S., Lopes, G., Jeltsema, D., Babu\u0161ka, R.: Interconnection and Damping Assignment Control via Reinforcement Learning. IFAC Proceedings 47(3), 1760\u20131765 (2014)","journal-title":"IFAC Proceedings"},{"issue":"1","key":"441_CR19","doi-asserted-by":"publisher","first-page":"59","DOI":"10.1007\/s11768-008-7193-9","volume":"6","author":"H Gonz\u00e1lez","year":"2008","unstructured":"Gonz\u00e1lez, H., Duarte-Mermoud, M.A., Pelissier, I., Travieso-Torres, J.C., Ortega, R.: A novel induction motor control scheme using IDA-PBC. J. Control Theory Appl. 6(1), 59\u201368 (2008). doi: 10.1007\/s11768-008-7193-9","journal-title":"J. Control Theory Appl."},{"issue":"14","key":"441_CR20","doi-asserted-by":"crossref","first-page":"1122","DOI":"10.3182\/20100901-3-IT-2016.00175","volume":"43","author":"P Kotyczka","year":"2010","unstructured":"Kotyczka, P., Koch, G., Pellegrini, E., Lohmann, B.: 8Th IFAC Symposium on Nonlinear Control SystemsTransparent Parametrization of Nonlinear IDA-PBC for a Hydraulic Actuator. IFAC Proceedings 43(14), 1122\u20131127 (2010)","journal-title":"IFAC Proceedings"},{"issue":"1","key":"441_CR21","doi-asserted-by":"crossref","first-page":"14608","DOI":"10.3182\/20110828-6-IT-1002.02168","volume":"44","author":"LC Neves","year":"2011","unstructured":"Neves, L.C., Paim, G.V., Queinnec, I., Moreno, U.F., De Pieri, E.R.: Passivity and Power Based Control of a Robot with Parallel Architecture*. IFAC Proceedings 44(1), 14608\u201314613 (2011). http:\/\/www.sciencedirect.com\/science\/article\/pii\/S1474667016459768","journal-title":"IFAC Proceedings"},{"key":"441_CR22","doi-asserted-by":"crossref","first-page":"604","DOI":"10.1016\/j.oceaneng.2015.05.014","volume":"104","author":"F Valentinis","year":"2015","unstructured":"Valentinis, F., Donaire, A., Perez, T.: Energy-based motion control of a slender hull unmanned underwater vehicle. Ocean Eng. 104, 604\u2013616 (2015). http:\/\/www.sciencedirect.com\/science\/article\/pii\/ S0029801815001900","journal-title":"Ocean Eng."},{"key":"441_CR23","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.ejcon.2015.12.001","volume":"27","author":"M Ryalat","year":"2016","unstructured":"Ryalat, M., Laila, D.S.: A simplified IDA-PBC design for underactuated mechanical systems with applications. Eur. J. Control. 27, 1\u201316 (2016). doi: 10.1016\/j.ejcon.2015.12.001 . http:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0947358015001296","journal-title":"Eur. J. Control."},{"key":"441_CR24","doi-asserted-by":"crossref","unstructured":"Mersha, A.Y., Carloni, R., Stramigioli, S.: Port-based modeling and control of underactuated aerial vehicles. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 14\u201319 (2011)","DOI":"10.1109\/ICRA.2011.5980053"},{"key":"441_CR25","doi-asserted-by":"publisher","unstructured":"Mu\u00f1oz, L.E., Santos, O., Castillo, P., Fantoni, I.: Energy-based nonlinear control for a quadrotor rotorcraft. In: 2013 American Control Conference, pp. 1177\u20131182 (2013), doi: 10.1109\/ACC.2013.6579995","DOI":"10.1109\/ACC.2013.6579995"},{"key":"441_CR26","doi-asserted-by":"publisher","unstructured":"Guerrero, M.E., Mercado, D.A., Lozano, R., Garc\u00eda, C.D.: Passivity based control for a quadrotor UAV transporting a cable-suspended payload with minimum swing. In: 2015 54th IEEE Conference on Decision and Control (CDC), pp. 6718\u20136723 (2015), doi: 10.1109\/CDC.2015.7403277","DOI":"10.1109\/CDC.2015.7403277"},{"key":"441_CR27","doi-asserted-by":"crossref","unstructured":"Bouzid, Y., Siguerdidjane, H., Bestaoui, Y.: Real time Autopilot based on Immersion & Invariance for Autonomous Aerial Vehicle. In: 20Th IFAC Symposium on Automatic Control in Aerospace -IFAC-PapersOnLine, vol. 49, no.17, pp. 176\u2013181, 2016.","DOI":"10.1016\/j.ifacol.2016.09.031"},{"key":"441_CR28","doi-asserted-by":"publisher","unstructured":"Bouzid, Y., Siguerdidjane, H., Bestaoui, Y.: Improved 3d trajectory tracking by Nonlinear Internal Model-Feedback linearization control strategy for autonomous systems 49(9), 13\u201318 (2016). doi: 10.1016\/j.ifacol.2016.07.480 . IFAC-PapersOnLine http:\/\/www.sciencedirect.com\/science\/article\/pii\/S2405896316306929","DOI":"10.1016\/j.ifacol.2016.07.480"},{"key":"441_CR29","doi-asserted-by":"publisher","unstructured":"Bouzid, Y., Siguerdidjane, H., Bestaoui, Y.: Hierarchical Autopilot Design based on Immersion & Invariance and Nonlinear Internal Model Tracking Controllers for Autonomous system 49(5), 103\u2013108 (2016). doi: 10.1016\/j.ifacol.2016.07.097 . IFAC-PapersOnLine http:\/\/www.sciencedirect.com\/science\/article\/pii\/S2405896316302932","DOI":"10.1016\/j.ifacol.2016.07.097"},{"key":"441_CR30","doi-asserted-by":"publisher","unstructured":"Huang, H., Hoffmann, G.M., Waslander, S.L., Tomlin , C.J.: Aerodynamics and control of autonomous quadrotor helicopters in aggressive maneuvering. In: IEEE International Conference on Robotics and Automation 2009, ICRA\u201909, pp. 3277\u20133282 (2009), doi: 10.1109\/ROBOT.2009.5152561","DOI":"10.1109\/ROBOT.2009.5152561"},{"issue":"9","key":"441_CR31","doi-asserted-by":"publisher","first-page":"1023","DOI":"10.1016\/j.conengprac.2011.04.005","volume":"19","author":"GM Hoffmann","year":"2011","unstructured":"Hoffmann, G.M., Huang, H., Waslander, S.L., Tomlin, C.J.: Precision flight control for a multi-vehicle quadrotor helicopter testbed. Control. Eng. Pract. 19 (9), 1023\u20131036 (2011). doi: 10.1016\/j.conengprac.2011.04.005 . http:\/\/www.sciencedirect.com\/science\/article\/pii\/ S0967066111000712","journal-title":"Control. Eng. Pract."},{"issue":"4","key":"441_CR32","doi-asserted-by":"publisher","first-page":"337","DOI":"10.14429\/dsj.61.1086","volume":"61","author":"NK Gupta","year":"2011","unstructured":"Gupta, N.K., Goel, R., Ananthkrishnan, N.: Design\/Development of Mini\/Micro Air Vehicles through Modelling and Simulation: Case of an Autonomous Quadrotor. Def. Sc. Jl. 61(4), 337\u2013345 (2011). doi: 10.14429\/dsj.61.1086 . http:\/\/publications.drdo.gov.in\/ojs\/index.php\/dsj\/article\/view\/ 1086","journal-title":"Def. Sc. Jl."},{"key":"441_CR33","unstructured":"Houck, C.R., Joines, J.A., Kay, M.G.: A Genetic Algorithm for Function Optimization: A Matlab implementation (1996)"},{"key":"441_CR34","unstructured":"Engel, J., Sturm, J., Cremers, D.: Accurate Figure Flying with a Quadrocopter Using Onboard Visual and Inertial Sensing. In: Proceedings of the Workshop on Visual Control of Mobile Robots (ViCoMoR) at the IEEE\/RJS International Conference on Intelligent Robot Systems (IROS), vol. 320 (2012)"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-016-0441-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0441-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0441-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,9,15]],"date-time":"2019-09-15T18:38:32Z","timestamp":1568572712000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-016-0441-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,11,24]]},"references-count":34,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2017,8]]}},"alternative-id":["441"],"URL":"https:\/\/doi.org\/10.1007\/s10846-016-0441-1","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2016,11,24]]}}}