{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,8]],"date-time":"2026-03-08T16:14:44Z","timestamp":1772986484869,"version":"3.50.1"},"reference-count":34,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2024,4,21]],"date-time":"2024-04-21T00:00:00Z","timestamp":1713657600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2024,4,21]],"date-time":"2024-04-21T00:00:00Z","timestamp":1713657600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["2022YFB4301401"],"award-info":[{"award-number":["2022YFB4301401"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61976033"],"award-info":[{"award-number":["61976033"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Pilot Base Construction and Pilot Verification Plan Program of Liaoning Province of China","award":["2022JH24\/10200029"],"award-info":[{"award-number":["2022JH24\/10200029"]}]},{"name":"Key Development Guidance Program of Liaoning Province of China","award":["2019JH8\/10100100"],"award-info":[{"award-number":["2019JH8\/10100100"]}]},{"DOI":"10.13039\/501100002858","name":"China Postdoctoral Science Foundation","doi-asserted-by":"publisher","award":["2022M710569"],"award-info":[{"award-number":["2022M710569"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int. J. Fuzzy Syst."],"published-print":{"date-parts":[[2024,6]]},"DOI":"10.1007\/s40815-023-01655-2","type":"journal-article","created":{"date-parts":[[2024,4,21]],"date-time":"2024-04-21T10:01:27Z","timestamp":1713693687000},"page":"1120-1132","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Fuzzy Adaptive Backstepping Trajectory Tracking Control of Quadrotor Suspension System with Input Saturation"],"prefix":"10.1007","volume":"26","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3391-846X","authenticated-orcid":false,"given":"Xinyu","family":"Chen","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7828-4902","authenticated-orcid":false,"given":"Yunsheng","family":"Fan","sequence":"additional","affiliation":[]},{"given":"Guofeng","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Dongdong","family":"Mu","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2024,4,21]]},"reference":[{"key":"1655_CR1","doi-asserted-by":"publisher","first-page":"251","DOI":"10.1016\/j.neucom.2022.06.110","volume":"504","author":"X Yi","year":"2022","unstructured":"Yi, X., Luo, B., Zhao, Y.: Adaptive dynamic programming-based visual servoing control for quadrotor. Neurocomputing 504, 251\u2013261 (2022)","journal-title":"Neurocomputing"},{"issue":"8","key":"1655_CR2","doi-asserted-by":"publisher","first-page":"3756","DOI":"10.1007\/s40815-022-01361-5","volume":"24","author":"W Yang","year":"2022","unstructured":"Yang, W., Cui, G., Li, Z., Tao, C.: Fuzzy approximation-based adaptive finite-time tracking control for a quadrotor uav with actuator faults. Int. J. Fuzzy Syst. 24(8), 3756\u20133769 (2022)","journal-title":"Int. J. Fuzzy Syst."},{"issue":"7","key":"1655_CR3","doi-asserted-by":"publisher","first-page":"3174","DOI":"10.1007\/s40815-022-01330-y","volume":"24","author":"P Ye","year":"2022","unstructured":"Ye, P., Yu, Y., Wang, W.: Event-based adaptive fuzzy asymptotic tracking control of quadrotor unmanned aerial vehicle with obstacle avoidance. Int. J. Fuzzy Syst. 24(7), 3174\u20133188 (2022)","journal-title":"Int. J. Fuzzy Syst."},{"key":"1655_CR4","doi-asserted-by":"publisher","first-page":"1745","DOI":"10.1007\/s40815-018-0471-x","volume":"20","author":"CW Kuo","year":"2018","unstructured":"Kuo, C.W., Tsai, C.C.: Quaternion-based adaptive backstepping rfwnn control of quadrotors subject to model uncertainties and disturbances. Int. J. Fuzzy Syst. 20, 1745\u20131755 (2018)","journal-title":"Int. J. Fuzzy Syst."},{"key":"1655_CR5","doi-asserted-by":"publisher","first-page":"104368","DOI":"10.1016\/j.autcon.2022.104368","volume":"141","author":"W Zhang","year":"2022","unstructured":"Zhang, W., Chen, H., Yao, X., Li, D.: Adaptive tracking of double pendulum crane with payload hoisting\/lowering. Autom. Constr. 141, 104368 (2022)","journal-title":"Autom. Constr."},{"key":"1655_CR6","first-page":"3258","volume-title":"IEEE International Conference on Robotics and Automation","author":"M Bernard","year":"2009","unstructured":"Bernard, M., Kondak, K.: Generic slung load transportation system using small size helicopters. In: IEEE International Conference on Robotics and Automation, pp. 3258\u20133264. IEEE, New York (2009)"},{"issue":"4","key":"1655_CR7","doi-asserted-by":"publisher","first-page":"1166","DOI":"10.1007\/s12555-020-0514-6","volume":"20","author":"L Liu","year":"2022","unstructured":"Liu, L., Chen, M., Li, T.: Disturbance observer-based lqr tracking control for unmanned autonomous helicopter slung-load system. Int. J. Control Autom. Syst. 20(4), 1166\u20131178 (2022)","journal-title":"Int. J. Control Autom. Syst."},{"key":"1655_CR8","doi-asserted-by":"publisher","first-page":"1905","DOI":"10.1007\/s40815-020-00883-0","volume":"22","author":"Z Sun","year":"2020","unstructured":"Sun, Z., Ling, Y., Qu, H., Xiang, F., Sun, Z., Wu, F.: An adaptive de algorithm based fuzzy logic anti-swing controller for overhead crane systems. Int. J. Fuzzy Syst. 22, 1905\u20131921 (2020)","journal-title":"Int. J. Fuzzy Syst."},{"key":"1655_CR9","doi-asserted-by":"publisher","first-page":"384","DOI":"10.1016\/j.automatica.2019.04.030","volume":"106","author":"D Cabecinhas","year":"2019","unstructured":"Cabecinhas, D., Cunha, R., Silvestre, C.: A trajectory tracking control law for a quadrotor with slung load. Automatica 106, 384\u2013389 (2019)","journal-title":"Automatica"},{"key":"1655_CR10","doi-asserted-by":"publisher","first-page":"137","DOI":"10.1109\/ICUAS51884.2021.9476757","volume-title":"2021 International Conference on Unmanned Aircraft Systems (ICUAS)","author":"J Pinto","year":"2021","unstructured":"Pinto, J., Guerreiro, B.J., Cunha, R.: Planning parcel relay manoeuvres for quadrotors. In: 2021 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 137\u2013145. IEEE, New York (2021)"},{"issue":"2","key":"1655_CR11","doi-asserted-by":"publisher","first-page":"653","DOI":"10.1109\/TCST.2018.2876518","volume":"28","author":"K Klausen","year":"2018","unstructured":"Klausen, K., Meissen, C., Fossen, T.I., Arcak, M., Johansen, T.A.: Cooperative control for multirotors transporting an unknown suspended load under environmental disturbances. IEEE Trans. Control Syst. Technol. 28(2), 653\u2013660 (2018)","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"1655_CR12","unstructured":"O\u2019Driscoll, D.: Uavs in humanitarian relief and wider development contexts. K4D Helpdesk Report Brighton (2017)"},{"issue":"5","key":"1655_CR13","doi-asserted-by":"publisher","first-page":"717","DOI":"10.1002\/rob.21772","volume":"35","author":"K Klausen","year":"2018","unstructured":"Klausen, K., Fossen, T.I., Johansen, T.A.: Autonomous recovery of a fixed-wing uav using a net suspended by two multirotor uavs. J. Field Robot. 35(5), 717\u2013731 (2018)","journal-title":"J. Field Robot."},{"key":"1655_CR14","doi-asserted-by":"publisher","first-page":"2269","DOI":"10.1109\/CDC.2013.6760219","volume-title":"52nd IEEE Conference on Decision and Control","author":"K Sreenath","year":"2013","unstructured":"Sreenath, K., Lee, T., Kumar, V.: Geometric control and differential flatness of a quadrotor uav with a cable-suspended load. In: 52nd IEEE Conference on Decision and Control, pp. 2269\u20132274. IEEE, New York (2013)"},{"issue":"12","key":"1655_CR15","doi-asserted-by":"publisher","first-page":"1271","DOI":"10.1049\/cth2.12301","volume":"16","author":"J Wang","year":"2022","unstructured":"Wang, J., Yuan, X., Zhu, B.: Geometric control for trajectory-tracking of a quadrotor uav with suspended load. IET Control Theory Appl. 16(12), 1271\u20131281 (2022)","journal-title":"IET Control Theory Appl."},{"key":"1655_CR16","doi-asserted-by":"publisher","first-page":"012013","DOI":"10.1088\/1742-6596\/2232\/1\/012013","volume":"2232","author":"H Sun","year":"2022","unstructured":"Sun, H., Gu, X., Luo, S., Liang, Y., Bai, J.: Robust stabilization technique for a quadrotor slung-load system using sliding mode control. J Phys Conf Ser 2232, 012013 (2022)","journal-title":"J Phys Conf Ser"},{"issue":"3","key":"1655_CR17","doi-asserted-by":"publisher","first-page":"1511","DOI":"10.1007\/s12206-022-0237-0","volume":"36","author":"HM Omar","year":"2022","unstructured":"Omar, H.M., Mukras, S.M.: Integrating anti-swing controller with px4 autopilot for quadrotor with suspended load. J. Mech. Sci. Technol. 36(3), 1511\u20131519 (2022)","journal-title":"J. Mech. Sci. Technol."},{"issue":"11","key":"1655_CR18","doi-asserted-by":"publisher","first-page":"21932","DOI":"10.1109\/TITS.2022.3180733","volume":"23","author":"Z Lv","year":"2022","unstructured":"Lv, Z., Wu, Y., Sun, X.M., Wang, Q.G.: Fixed-time control for a quadrotor with a cable-suspended load. IEEE Trans. Intell. Transp. Syst. 23(11), 21932\u201321943 (2022)","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"1655_CR19","doi-asserted-by":"publisher","first-page":"3156","DOI":"10.1109\/ACC.2016.7525403","volume-title":"2016 American Control Conference (ACC)","author":"GV Raffo","year":"2016","unstructured":"Raffo, G.V., de Almeida, M.M.: Nonlinear robust control of a quadrotor uav for load transportation with swing improvement. In: 2016 American Control Conference (ACC), pp. 3156\u20133162. IEEE, New York (2016)"},{"issue":"6","key":"1655_CR20","doi-asserted-by":"publisher","first-page":"101748","DOI":"10.1016\/j.asej.2022.101748","volume":"13","author":"N Dalwadi","year":"2022","unstructured":"Dalwadi, N., Deb, D., Muyeen, S.: Observer based rotor failure compensation for biplane quadrotor with slung load. Ain Shams Eng. J. 13(6), 101748 (2022)","journal-title":"Ain Shams Eng. J."},{"issue":"4","key":"1655_CR21","doi-asserted-by":"publisher","first-page":"461","DOI":"10.3390\/electronics8040461","volume":"8","author":"K Yi","year":"2019","unstructured":"Yi, K., Liang, X., He, Y., Yang, L., Han, J.: Active-model-based control for the quadrotor carrying a changed slung load. Electronics 8(4), 461 (2019)","journal-title":"Electronics"},{"key":"1655_CR22","doi-asserted-by":"publisher","first-page":"737","DOI":"10.1016\/j.ast.2019.01.053","volume":"86","author":"M Vahdanipour","year":"2019","unstructured":"Vahdanipour, M., Khodabandeh, M.: Adaptive fractional order sliding mode control for a quadrotor with a varying load. Aerosp. Sci. Technol. 86, 737\u2013747 (2019)","journal-title":"Aerosp. Sci. Technol."},{"issue":"1906","key":"1655_CR23","first-page":"407","volume":"439","author":"FE Udwadia","year":"1992","unstructured":"Udwadia, F.E., Kalaba, R.E.: A new perspective on constrained motion. Proc. Royal\u00a0Soc. London Ser. A Math. Phys. Sci. 439(1906), 407\u2013410 (1992)","journal-title":"Proc. Royal\u00a0Soc. London Ser. A Math. Phys. Sci."},{"issue":"2\u20133","key":"1655_CR24","first-page":"339","volume":"70","author":"FE Udwadia","year":"1995","unstructured":"Udwadia, F.E., Kalaba, R.E.: An alternate proof for the equation of motion for constrained mechanical systems. Appl. Math. Comput. 70(2\u20133), 339\u2013342 (1995)","journal-title":"Appl. Math. Comput."},{"issue":"1","key":"1655_CR25","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/0045-7825(72)90018-7","volume":"1","author":"J Baumgarte","year":"1972","unstructured":"Baumgarte, J.: Stabilization of constraints and integrals of motion in dynamical systems. Comput. Methods Appl. Mech. Eng. 1(1), 1\u201316 (1972)","journal-title":"Comput. Methods Appl. Mech. Eng."},{"key":"1655_CR26","doi-asserted-by":"publisher","first-page":"158","DOI":"10.1016\/j.ast.2018.10.027","volume":"84","author":"B Shirani","year":"2019","unstructured":"Shirani, B., Najafi, M., Izadi, I.: Cooperative load transportation using multiple uavs. Aerosp. Sci. Technol. 84, 158\u2013169 (2019)","journal-title":"Aerosp. Sci. Technol."},{"key":"1655_CR27","doi-asserted-by":"publisher","first-page":"362","DOI":"10.1016\/j.ins.2022.03.083","volume":"600","author":"X Liu","year":"2022","unstructured":"Liu, X., Wu, Q., Zhen, S., Zhao, H., Li, C., Chen, Y.H.: Robust constraint-following control for permanent magnet linear motor with optimal design: a fuzzy approach. Info. Sci. 600, 362\u2013376 (2022)","journal-title":"Info. Sci."},{"key":"1655_CR28","first-page":"1","volume":"2021","author":"R Zhao","year":"2021","unstructured":"Zhao, R., Yu, J., Yang, H., Chen, Y.H.: Contact constraints-based dynamic manipulation control of the multi-fingered hand robot: a force sensorless approach. Nonlinear Dyn. 2021, 1\u201325 (2021)","journal-title":"Nonlinear Dyn."},{"key":"1655_CR29","doi-asserted-by":"publisher","first-page":"2341","DOI":"10.1007\/s11071-021-06739-y","volume":"105","author":"J Han","year":"2021","unstructured":"Han, J., Wang, P., Dong, F., Zhao, X., Chen, S.: Optimal design of adaptive robust control for a planar two-dof redundantly actuated parallel robot. Nonlinear Dyn. 105, 2341\u20132362 (2021)","journal-title":"Nonlinear Dyn."},{"issue":"2","key":"1655_CR30","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.: Modeling of generic slung load system. J. Guid. Control Dyn. 32(2), 573\u2013585 (2009)","journal-title":"J. Guid. Control Dyn."},{"issue":"5","key":"1655_CR31","doi-asserted-by":"publisher","first-page":"1587","DOI":"10.1017\/S0263574721001272","volume":"40","author":"F Arab","year":"2022","unstructured":"Arab, F., Shirazi, F.A., Yazdi, M.R.H.: Cooperative parameter estimation of a nonuniform payload by multiple quadrotors. Robotica 40(5), 1587\u20131606 (2022)","journal-title":"Robotica"},{"key":"1655_CR32","doi-asserted-by":"publisher","first-page":"106917","DOI":"10.1016\/j.ast.2021.106917","volume":"117","author":"F Arab","year":"2021","unstructured":"Arab, F., Shirazi, F.A., Yazdi, M.R.H.: Planning and distributed control for cooperative transportation of a non-uniform slung-load by multiple quadrotors. Aerosp. Sci. Technol. 117, 106917 (2021)","journal-title":"Aerosp. Sci. Technol."},{"key":"1655_CR33","first-page":"2097","volume-title":"2015 European Control Conference (ECC)","author":"BY Lee","year":"2015","unstructured":"Lee, B.Y., Lee, H.I., Yoo, D.-W., Moon, G.H., Lee, D.Y., Young Kim, Y., Tahk, M.J.: Study on payload stabilization method with the slung-load transportation system using a quad-rotor. In: 2015 European Control Conference (ECC), pp. 2097\u20132102. IEEE, New York (2015)"},{"issue":"1","key":"1655_CR34","first-page":"10","volume":"3","author":"BY Lee","year":"2015","unstructured":"Lee, B.Y., Hong, S.M., Yoo, D.W., Lee, H.I., Moon, G.H., Tahk, M.J.: Design of a neural network controller for a slung-load system lifted by 1 quad-rotor. J. Autom. Control Eng. 3(1), 10 (2015)","journal-title":"J. Autom. Control Eng."}],"container-title":["International Journal of Fuzzy Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s40815-023-01655-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s40815-023-01655-2\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s40815-023-01655-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,5,29]],"date-time":"2024-05-29T10:15:59Z","timestamp":1716977759000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s40815-023-01655-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,4,21]]},"references-count":34,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2024,6]]}},"alternative-id":["1655"],"URL":"https:\/\/doi.org\/10.1007\/s40815-023-01655-2","relation":{},"ISSN":["1562-2479","2199-3211"],"issn-type":[{"value":"1562-2479","type":"print"},{"value":"2199-3211","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,4,21]]},"assertion":[{"value":"6 June 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"31 October 2023","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"20 November 2023","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"21 April 2024","order":4,"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"}}]}}