{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,30]],"date-time":"2026-01-30T05:48:18Z","timestamp":1769752098707,"version":"3.49.0"},"reference-count":39,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2020,4,27]],"date-time":"2020-04-27T00:00:00Z","timestamp":1587945600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2020,4,27]],"date-time":"2020-04-27T00:00:00Z","timestamp":1587945600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2020,11]]},"DOI":"10.1007\/s10846-020-01195-z","type":"journal-article","created":{"date-parts":[[2020,4,27]],"date-time":"2020-04-27T17:41:49Z","timestamp":1588009309000},"page":"519-530","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":36,"title":["Aerial Load Transportation with Multiple Quadrotors Based on a Kinematic Controller and a Neural SMC Dynamic Compensation"],"prefix":"10.1007","volume":"100","author":[{"given":"Francisco","family":"Rossomando","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Claudio","family":"Rosales","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Javier","family":"Gimenez","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lucio","family":"Salinas","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Carlos","family":"Soria","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mario","family":"Sarcinelli-Filho","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ricardo","family":"Carelli","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2020,4,27]]},"reference":[{"issue":"4","key":"1195_CR1","doi-asserted-by":"publisher","first-page":"2624","DOI":"10.1109\/COMST.2016.2560343","volume":"18","author":"S Hayat","year":"2016","unstructured":"Hayat, S., Yanmaz, E., Muzaffar, R.: Survey on unmanned aerial vehicle networks for civil applications: A communications viewpoint. IEEE Commun. Surv. Tutor. 18(4), 2624\u20132661 (2016)","journal-title":"IEEE Commun. Surv. Tutor."},{"key":"1195_CR2","unstructured":"Huang, M., Xian, B., Diao, C., Yang, K., Feng, Y.: Adaptive tracking control of underactuated quadrotor unmanned aerial vehicles via backstepping. In: Proceedings of the 2010 American Control Conference, pp 2076\u20132081. IEEE (2010)"},{"key":"1195_CR3","doi-asserted-by":"crossref","unstructured":"Pizetta, I.H.B., Brand\u00e3o, A.S., Sarcinelli-Filho, M.: Modelling and control of a pvtol quadrotor carrying a suspended load. In: 2015 International Conference on Unmanned Aircraft Systems (ICUAS), pp 444\u2013450. IEEE (2015)","DOI":"10.1109\/ICUAS.2015.7152321"},{"key":"1195_CR4","doi-asserted-by":"publisher","first-page":"48572","DOI":"10.1109\/ACCESS.2019.2909530","volume":"7","author":"H Shakhatreh","year":"2019","unstructured":"Shakhatreh, H., Sawalmeh, A.H., Al-Fuqaha, A., Dou, Z., Almaita, E., Khalil, I., Othman, N.S., Khreishah, A., Guizani, M: Unmanned aerial vehicles (UAVs): A survey on civil applications and key research challenges. IEEE Access 7, 48572\u201348634 (2019)","journal-title":"IEEE Access"},{"key":"1195_CR5","unstructured":"Villa, D.K., Brand\u00e3o, A.S., Sarcinelli-Filho, M.: A survey on load transportation using multirotor uavs. Journal of Intelligent & Robotic Systems, 1\u201330"},{"issue":"1S","key":"1195_CR6","doi-asserted-by":"publisher","first-page":"S28","DOI":"10.1097\/TA.0000000000002221","volume":"87","author":"J Braun","year":"2019","unstructured":"Braun, J., Gertz, S.D., Furer, A., Bader, T., Frenkel, H., Chen, J., Glassberg, E., Nachman, D.: The promising future of drones in prehospital medical care and its application to battlefield medicine. J Trauma Acute Care Surgery 87(1S), S28\u2013S34 (2019)","journal-title":"J Trauma Acute Care Surgery"},{"key":"1195_CR7","unstructured":"Sung, I., Nielsen, P.: Zoning a service area of unmanned aerial vehicles for package delivery services. Journal of Intelligent & Robotic Systems, 1\u201313 (2019)"},{"key":"1195_CR8","doi-asserted-by":"crossref","unstructured":"Foehn, P., Falanga, D., Kuppuswamy, N., Tedrake, R., Scaramuzza, D: Fast trajectory optimization for agile quadrotor maneuvers with a cable-suspended payload. Robotics: Science and Systems, 1\u201310 (2017)","DOI":"10.15607\/RSS.2017.XIII.030"},{"issue":"6","key":"1195_CR9","doi-asserted-by":"publisher","first-page":"155014771985071","DOI":"10.1177\/1550147719850719","volume":"15","author":"TD Dinh","year":"2019","unstructured":"Dinh, T.D., Pirmagomedov, R., Pham, V.D., Ahmed, A.A., Kirichek, R., Glushakov, R., Vladyko, A.: Unmanned aerial system\u2013assisted wilderness search and rescue mission. Int. J. Distrib. Sensor Netw. 15(6), 1550147719850719 (2019)","journal-title":"Int. J. Distrib. Sensor Netw."},{"issue":"4","key":"1195_CR10","doi-asserted-by":"publisher","first-page":"46","DOI":"10.1109\/MCS.2014.2320359","volume":"34","author":"F Augugliaro","year":"2014","unstructured":"Augugliaro, F., Lupashin, S., Hamer, M., Male, C., Hehn, M., Mueller, M.W., Willmann, J.S., Gramazio, F., Kohler, M., D\u2019Andrea, R.: The flight assembled architecture installation: Cooperative construction with flying machines. IEEE Control. Syst. Mag. 34(4), 46\u201364 (2014)","journal-title":"IEEE Control. Syst. Mag."},{"issue":"10","key":"1195_CR11","doi-asserted-by":"publisher","first-page":"1259","DOI":"10.1007\/s42452-019-1322-6","volume":"1","author":"AM Sayed Soliman","year":"2019","unstructured":"Sayed Soliman, A.M., Cinar Cagan, S., Baris Buldum, B.: The design of a rotary-wing unmanned aerial vehicles-payload drop mechanism for fire-fighting services using fire-extinguishing balls. SN Appl. Sci. 1(10), 1259 (2019)","journal-title":"SN Appl. Sci."},{"key":"1195_CR12","doi-asserted-by":"publisher","first-page":"502","DOI":"10.1016\/j.procs.2018.07.063","volume":"133","author":"U Rao Mogili","year":"2018","unstructured":"Rao Mogili, U., Deepak, B.B.V.L.: Review on application of drone systems in precision agriculture. Procedia Comput. Sci. 133, 502\u2013509 (2018)","journal-title":"Procedia Comput. Sci."},{"key":"1195_CR13","doi-asserted-by":"crossref","unstructured":"Kotaru, P., Wu, G., Sreenath, K.: Differential-flatness and control of quadrotor (s) with a payload suspended through flexible cable (s). In: 2018 Indian Control Conference (ICC), pp 352\u2013357. IEEE (2018)","DOI":"10.1109\/INDIANCC.2018.8308004"},{"issue":"8","key":"1195_CR14","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.: Cable-suspended load lifting by a quadrotor uav: Hybrid model, trajectory generation, and control. Auton. Robot. 41(8), 1629\u20131643 (2017)","journal-title":"Auton. Robot."},{"issue":"1","key":"1195_CR15","doi-asserted-by":"publisher","first-page":"4324","DOI":"10.1016\/j.ifacol.2017.08.861","volume":"50","author":"Y Alothman","year":"2017","unstructured":"Alothman, Y., Guo, M., Gu, D.: Using iterative lqr to control two quadrotors transporting a cable-suspended load. IFAC-PapersOnLine 50(1), 4324\u20134329 (2017)","journal-title":"IFAC-PapersOnLine"},{"key":"1195_CR16","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.: Swing-attenuation for a quadrotor transporting a cable-suspended payload. ISA Trans. 68, 433\u2013449 (2017)","journal-title":"ISA Trans."},{"key":"1195_CR17","doi-asserted-by":"crossref","unstructured":"Sun, K., Qiu, J., Karimi, H.R., Gao, H.: A novel finite-time control for nonstrict feedback saturated nonlinear systems with tracking error constraint. IEEE Transactions on Systems, Man and Cybernetics: Systems (2019)","DOI":"10.1109\/TSMC.2019.2958072"},{"issue":"11","key":"1195_CR18","doi-asserted-by":"publisher","first-page":"2152","DOI":"10.1109\/TFUZZ.2019.2895560","volume":"27","author":"J Qiu","year":"2019","unstructured":"Qiu, J., Sun, K., Wang, T., Gao, H.: Observer-based fuzzy adaptive event-triggered control for pure-feedback nonlinear systems with prescribed performance. IEEE Trans. Fuzzy Syst. 27(11), 2152\u20132162 (2019)","journal-title":"IEEE Trans. Fuzzy Syst."},{"issue":"8","key":"1195_CR19","doi-asserted-by":"publisher","first-page":"1587","DOI":"10.1109\/TFUZZ.2018.2883374","volume":"27","author":"K Sun","year":"2018","unstructured":"Sun, K., Mou, S., Qiu, J., Wang, T., Gao, H.: Adaptive fuzzy control for nontriangular structural stochastic switched nonlinear systems with full state constraints. IEEE Trans. Fuzzy Syst. 27(8), 1587\u20131601 (2018)","journal-title":"IEEE Trans. Fuzzy Syst."},{"issue":"1","key":"1195_CR20","doi-asserted-by":"publisher","first-page":"13150","DOI":"10.1016\/j.ifacol.2017.08.2169","volume":"50","author":"C Meissen","year":"2017","unstructured":"Meissen, C., Klausen, K., Arcak, M., Fossen, T.I., Packard, A.: Passivity-based formation control for uavs with a suspended load. IFAC-PapersOnLine 50(1), 13150\u201313155 (2017)","journal-title":"IFAC-PapersOnLine"},{"issue":"1","key":"1195_CR21","doi-asserted-by":"publisher","first-page":"41","DOI":"10.3233\/ICA-160530","volume":"24","author":"J Estevez","year":"2017","unstructured":"Estevez, J., Gra\u00f1a, M., Lopez-Guede, J.M.: Online fuzzy modulated adaptive PD control for cooperative aerial transportation of deformable linear objects. Integr. Comput.-Aided Eng. 24(1), 41\u201355 (2017)","journal-title":"Integr. Comput.-Aided Eng."},{"key":"1195_CR22","doi-asserted-by":"crossref","unstructured":"Babaie, R., Ehyaie, A.F.: Robust optimal motion planning approach to cooperative grasping and transporting using multiple UAVs based on SDRE. Trans. Inst. Meas. Control., 1\u201318 (2016)","DOI":"10.1177\/0142331216640600"},{"key":"1195_CR23","doi-asserted-by":"crossref","unstructured":"Dai, S., Lee, T., Bernstein, D.S.: Adaptive control of a quadrotor uav transporting a cable-suspended load with unknown mass. In: Proc. of 53rd IEEE Conference on Decision and Control, Los Angeles, CA USA (2014)","DOI":"10.1109\/CDC.2014.7040352"},{"issue":"1","key":"1195_CR24","doi-asserted-by":"publisher","first-page":"255","DOI":"10.1109\/TCST.2017.2656060","volume":"26","author":"T Lee","year":"2017","unstructured":"Lee, T.: Geometric control of quadrotor uavs transporting a cable-suspended rigid body. IEEE Trans. Control Syst. Technol. 26(1), 255\u2013264 (2017)","journal-title":"IEEE Trans. Control Syst. Technol."},{"issue":"6","key":"1195_CR25","doi-asserted-by":"publisher","first-page":"2543","DOI":"10.1109\/TMECH.2017.2752302","volume":"22","author":"MCP Santos","year":"2017","unstructured":"Santos, M.C.P., Rosales, C.D., Sarcinelli-Filho, M., Carelli, R.: A novel null-space-based uav trajectory tracking controller with collision avoidance. IEEE\/ASME Trans. Mechatron. 22(6), 2543\u20132553 (2017)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"11","key":"1195_CR26","doi-asserted-by":"publisher","first-page":"1354","DOI":"10.1016\/j.conengprac.2008.03.004","volume":"16","author":"FN Martins","year":"2008","unstructured":"Martins, F.N., Celeste, W.C., Carelli, R., Sarcinelli-Filho, M., Bastos-Filho, T.F.: An adaptive dynamic controller for autonomous mobile robot trajectory tracking. Control. Eng. Pract. 16(11), 1354\u20131363 (2008)","journal-title":"Control. Eng. Pract."},{"issue":"10","key":"1195_CR27","doi-asserted-by":"publisher","first-page":"2251","DOI":"10.1016\/j.engappai.2013.08.008","volume":"26","author":"F Rossomando","year":"2013","unstructured":"Rossomando, F., Soria, C., Carelli, R.: Adaptive neural sliding mode compensator for a class of nonlinear systems with unmodeled uncertainties. Eng. Appl. Artif. Intel. 26(10), 2251\u20132259 (2013)","journal-title":"Eng. Appl. Artif. Intel."},{"key":"1195_CR28","doi-asserted-by":"publisher","first-page":"491","DOI":"10.1016\/j.isatra.2018.05.022","volume":"80","author":"J Gimenez","year":"2018","unstructured":"Gimenez, J., Gandolfo, D., Salinas, L., Rosales, C., Carelli, R.: Multi-objective control for cooperative payload transport with rotorcraft uavs. ISA Trans. 80, 491\u2013502 (2018)","journal-title":"ISA Trans."},{"key":"1195_CR29","doi-asserted-by":"crossref","unstructured":"Salinas, L.R., Gimenez, J., Rosales, C., Gandolfo, D.C.: Null-space-based path-following control for cooperative payload transport using multiple rotorcraft uavs. In: 2018 International Conference on Unmanned Aircraft Systems (ICUAS), pp 631\u2013638. IEEE (2018)","DOI":"10.1109\/ICUAS.2018.8453373"},{"key":"1195_CR30","doi-asserted-by":"crossref","unstructured":"Powers, C., Mellinger, D., Kumar, V.: Quadrotor kinematics and dynamics. Handbook of Unmanned Aerial Vehicles, 307\u2013328 (2015)","DOI":"10.1007\/978-90-481-9707-1_71"},{"issue":"3","key":"1195_CR31","doi-asserted-by":"publisher","first-page":"56","DOI":"10.1109\/MRA.2010.937855","volume":"17","author":"N Michael","year":"2010","unstructured":"Michael, N., Mellinger, D., Lindsey, Q., Kumar, V.: The grasp multiple micro-uav testbed. IEEE Robot. Autom. Mag. 17(3), 56\u201365 (2010)","journal-title":"IEEE Robot. Autom. Mag."},{"key":"1195_CR32","doi-asserted-by":"crossref","unstructured":"Santana, L.V., Brandao, A.S., Sarcinelli-Filho, M., Carelli, R.: A trajectory tracking and 3d positioning controller for the ar.drone quadrotor. In: International Conference on Unmanned Aircraft Systems (ICUAS), Orlando, FL, USA, pp. 756\u2013767 (2014)","DOI":"10.1109\/ICUAS.2014.6842321"},{"key":"1195_CR33","doi-asserted-by":"publisher","first-page":"93","DOI":"10.1016\/j.conengprac.2017.01.011","volume":"61","author":"MC Santos","year":"2017","unstructured":"Santos, M.C., Santana, L.V., Brand\u00e3o, A.S., Sarcinelli-Filho, M., Carelli, R.: Indoor low-cost localization system for controlling aerial robots. Control. Eng. Pract. 61, 93\u2013111 (2017)","journal-title":"Control. Eng. Pract."},{"key":"1195_CR34","doi-asserted-by":"crossref","unstructured":"Rosales, C., Soria, C., Carelli, R., Rossomando, F.: Adaptive dynamic control of a quadrotor for trajectory tracking. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp 547\u2013553. IEEE (2017)","DOI":"10.1109\/ICUAS.2017.7991492"},{"issue":"12","key":"1195_CR35","doi-asserted-by":"publisher","first-page":"1851","DOI":"10.1049\/iet-cta.2011.0581","volume":"6","author":"F Rossomando","year":"2012","unstructured":"Rossomando, F., Soria, C., Carelli, R.: Neural network-based compensation control of mobile robots with partially known structure. IET Control Theory Appl. 6(12), 1851\u20131860 (2012)","journal-title":"IET Control Theory Appl."},{"key":"1195_CR36","volume-title":"Applied Nonlinear Control, vol. 199","author":"J-JE Slotine","year":"1991","unstructured":"Slotine, J.-J.E., Li, W., et al.: Applied Nonlinear Control, vol. 199. Prentice hall, Englewood Cliffs (1991)"},{"issue":"2","key":"1195_CR37","doi-asserted-by":"publisher","first-page":"246","DOI":"10.1162\/neco.1991.3.2.246","volume":"3","author":"J Park","year":"1991","unstructured":"Park, J., Sandberg, I.W.: Universal approximation using radial-basis-function networks. Neural Comput. 3(2), 246\u2013257 (1991)","journal-title":"Neural Comput."},{"issue":"4","key":"1195_CR38","doi-asserted-by":"publisher","first-page":"594","DOI":"10.1109\/72.298229","volume":"5","author":"SE Vt","year":"1994","unstructured":"Vt, S.E., Shin, Y.C.: Radial basis function neural network for approximation and estimation of nonlinear stochastic dynamic systems. IEEE Trans. Neural Netw. 5(4), 594\u2013603 (1994)","journal-title":"IEEE Trans. Neural Netw."},{"issue":"4","key":"1195_CR39","doi-asserted-by":"publisher","first-page":"303","DOI":"10.1007\/BF02551274","volume":"2","author":"G Cybenko","year":"1989","unstructured":"Cybenko, G.: Approximation by superpositions of a sigmoidal function. Mathematics of Control, Signals, and Systems (MCSS) 2(4), 303\u2013314 (1989)","journal-title":"Mathematics of Control, Signals, and Systems (MCSS)"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-020-01195-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-020-01195-z\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-020-01195-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,4,27]],"date-time":"2021-04-27T01:31:52Z","timestamp":1619487112000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-020-01195-z"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,4,27]]},"references-count":39,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2020,11]]}},"alternative-id":["1195"],"URL":"https:\/\/doi.org\/10.1007\/s10846-020-01195-z","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,4,27]]},"assertion":[{"value":"30 October 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"31 March 2020","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"27 April 2020","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}