{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,15]],"date-time":"2026-05-15T09:08:15Z","timestamp":1778836095497,"version":"3.51.4"},"reference-count":47,"publisher":"Elsevier BV","issue":"7","license":[{"start":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T00:00:00Z","timestamp":1777593600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T00:00:00Z","timestamp":1777593600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"}],"funder":[{"DOI":"10.13039\/501100003787","name":"Natural Science Foundation of Hebei Province","doi-asserted-by":"publisher","award":["F2025208019"],"award-info":[{"award-number":["F2025208019"]}],"id":[{"id":"10.13039\/501100003787","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Journal of the Franklin Institute"],"published-print":{"date-parts":[[2026,5]]},"DOI":"10.1016\/j.jfranklin.2026.108545","type":"journal-article","created":{"date-parts":[[2026,3,3]],"date-time":"2026-03-03T07:54:10Z","timestamp":1772524450000},"page":"108545","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"title":["Practical prescribed-time control for multi-quadrotor cooperative transport system with constraint"],"prefix":"10.1016","volume":"363","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5983-8874","authenticated-orcid":false,"given":"Shikai","family":"Shao","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-1326-7993","authenticated-orcid":false,"given":"Haoan","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1004-8350","authenticated-orcid":false,"given":"Bailing","family":"Tian","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2784-2278","authenticated-orcid":false,"given":"Xiaojing","family":"Wu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1364-8426","authenticated-orcid":false,"given":"Yuanjie","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"78","reference":[{"issue":"1","key":"10.1016\/j.jfranklin.2026.108545_bib0001","doi-asserted-by":"crossref","first-page":"704","DOI":"10.1109\/TIV.2023.3317444","article-title":"A nonlinear trajectory tracking control strategy for quadrotor with suspended payload based on force sensor","volume":"9","author":"Li","year":"2024","journal-title":"IEEE Trans. Intell. Veh."},{"issue":"2","key":"10.1016\/j.jfranklin.2026.108545_bib0002","doi-asserted-by":"crossref","first-page":"1870","DOI":"10.1109\/TIE.2022.3163526","article-title":"Unmanned aerial transportation system with flexible connection between the quadrotor and the payload: modeling, controller design, and experimental validation","volume":"70","author":"Liang","year":"2023","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"11","key":"10.1016\/j.jfranklin.2026.108545_bib0003","doi-asserted-by":"crossref","first-page":"4632","DOI":"10.1109\/TCSI.2022.3193878","article-title":"Fixed-time disturbance observer-based control for quadcopter suspension transportation system","volume":"69","author":"Liu","year":"2022","journal-title":"IEEE Trans. Circuits Syst. I Regul. Pap."},{"issue":"7","key":"10.1016\/j.jfranklin.2026.108545_bib0004","doi-asserted-by":"crossref","first-page":"4171","DOI":"10.1109\/TSMC.2019.2931812","article-title":"Adaptive nonlinear hierarchical control for a rotorcraft transporting a cable-suspended payload","volume":"51","author":"Liang","year":"2021","journal-title":"IEEE Trans. Syst. Man Cybern. Syst."},{"issue":"18","key":"10.1016\/j.jfranklin.2026.108545_bib0005","doi-asserted-by":"crossref","DOI":"10.1016\/j.jfranklin.2024.107316","article-title":"Fixed-time adaptive control of quadrotor suspension system with unknown payload mass","volume":"361","author":"Chen","year":"2024","journal-title":"J Franklin Inst"},{"issue":"2","key":"10.1016\/j.jfranklin.2026.108545_bib0006","doi-asserted-by":"crossref","first-page":"35","DOI":"10.3390\/drones8020035","article-title":"Review of aerial transportation of suspended-cable payloads with quadrotors","volume":"8","author":"Estevez","year":"2024","journal-title":"Drones"},{"key":"10.1016\/j.jfranklin.2026.108545_bib0007","first-page":"5510","article-title":"Geometric control of cooperating multiple quadrotor UAVs with a suspended payload","author":"Lee","year":"2013","journal-title":"52nd IEEE Conference on Decision and Control"},{"issue":"2","key":"10.1016\/j.jfranklin.2026.108545_bib0008","doi-asserted-by":"crossref","first-page":"653","DOI":"10.1109\/TCST.2018.2876518","article-title":"Cooperative control for multirotors transporting an unknown suspended load under environmental disturbances","volume":"28","author":"Klausen","year":"2020","journal-title":"IEEE Trans. Control Syst. Technol."},{"issue":"9","key":"10.1016\/j.jfranklin.2026.108545_bib0009","doi-asserted-by":"crossref","first-page":"11833","DOI":"10.1109\/TITS.2024.3380668","article-title":"Robust cooperative transportation of a cable-suspended payload by multiple quadrotors featuring cable-reconfiguration capabilities","volume":"25","author":"Wang","year":"2024","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"4","key":"10.1016\/j.jfranklin.2026.108545_bib0010","doi-asserted-by":"crossref","first-page":"1709","DOI":"10.1109\/TMECH.2020.2995138","article-title":"Control of multiple quad-copters with a cable-suspended payload subject to disturbances","volume":"25","author":"Mohammadi","year":"2020","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"8","key":"10.1016\/j.jfranklin.2026.108545_bib0011","doi-asserted-by":"crossref","first-page":"4697","DOI":"10.1109\/LRA.2023.3288374","article-title":"Composite disturbance rejection control strategy for multi-quadrotor transportation system","volume":"8","author":"Zhao","year":"2023","journal-title":"IEEE Rob. Autom. Lett."},{"issue":"6","key":"10.1016\/j.jfranklin.2026.108545_bib0012","doi-asserted-by":"crossref","first-page":"4551","DOI":"10.1007\/s11071-024-09277-5","article-title":"Robust hierarchical geometry control for the multiple UAVs aerial transportation system with a suspended payload","volume":"112","author":"Cai","year":"2024","journal-title":"Nonlinear Dyn."},{"issue":"1","key":"10.1016\/j.jfranklin.2026.108545_bib0013","doi-asserted-by":"crossref","first-page":"189","DOI":"10.1109\/TASE.2016.2605707","article-title":"Planning and control for collision-free cooperative aerial transportation","volume":"15","author":"Lee","year":"2018","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"10.1016\/j.jfranklin.2026.108545_bib0014","doi-asserted-by":"crossref","first-page":"926","DOI":"10.1109\/LCSYS.2021.3087339","article-title":"Multi-UAV collaborative transportation of payloads with obstacle avoidance","volume":"6","author":"Hegde","year":"2022","journal-title":"IEEE Contr. Syst. Lett."},{"key":"10.1016\/j.jfranklin.2026.108545_bib0015","first-page":"1","article-title":"Adaptive motion control for electro-hydraulic servo systems with appointed-Time performance","author":"Yang","year":"2025","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"1","key":"10.1016\/j.jfranklin.2026.108545_bib0016","doi-asserted-by":"crossref","first-page":"241","DOI":"10.1002\/asjc.2765","article-title":"Prescribed performance control approaches, applications and challenges: a comprehensive survey","volume":"25","author":"Bu","year":"2022","journal-title":"Asian J. Contr."},{"issue":"1","key":"10.1016\/j.jfranklin.2026.108545_bib0017","doi-asserted-by":"crossref","first-page":"2382","DOI":"10.1109\/TIV.2023.3302689","article-title":"Vision-based prescribed performance control for UAV target tracking subject to actuator saturation","volume":"9","author":"Sun","year":"2024","journal-title":"IEEE Trans. Intell. Veh."},{"issue":"1","key":"10.1016\/j.jfranklin.2026.108545_bib0018","doi-asserted-by":"crossref","first-page":"572","DOI":"10.1109\/TII.2018.2839739","article-title":"Leader-follower formation control of USVs with prescribed performance and collision avoidance","volume":"15","author":"He","year":"2019","journal-title":"IEEE Trans. Ind. Inf."},{"key":"10.1016\/j.jfranklin.2026.108545_bib0019","doi-asserted-by":"crossref","first-page":"23","DOI":"10.1016\/j.fss.2018.12.015","article-title":"Adaptive fuzzy finite-time stability of uncertain nonlinear systems based on prescribed performance","volume":"374","author":"Liu","year":"2019","journal-title":"Fuzzy Sets Syst."},{"issue":"2","key":"10.1016\/j.jfranklin.2026.108545_bib0020","first-page":"494","article-title":"Fixed-time prescribed performance adaptive trajectory tracking control for a QUAV","volume":"69","author":"Cui","year":"2022","journal-title":"IEEE Trans. Circuits Syst. II: Express Briefs"},{"key":"10.1016\/j.jfranklin.2026.108545_bib0021","doi-asserted-by":"crossref","first-page":"243","DOI":"10.1016\/j.automatica.2017.06.008","article-title":"Time-varying feedback for regulation of normal-form nonlinear systems in prescribed finite time","volume":"83","author":"Song","year":"2017","journal-title":"Automatica"},{"issue":"12","key":"10.1016\/j.jfranklin.2026.108545_bib0022","doi-asserted-by":"crossref","first-page":"4195","DOI":"10.1109\/TFUZZ.2023.3277480","article-title":"Prescribed-time formation control for a class of multiagent systems via fuzzy reinforcement learning","volume":"31","author":"Zhang","year":"2023","journal-title":"IEEE Trans. Fuzzy Syst."},{"issue":"5","key":"10.1016\/j.jfranklin.2026.108545_bib0023","doi-asserted-by":"crossref","first-page":"2700","DOI":"10.1109\/TFUZZ.2024.3357083","article-title":"Dynamic self-triggered fuzzy bipartite time-varying formation tracking for nonlinear multiagent systems with deferred asymmetric output constraints","volume":"32","author":"Huang","year":"2024","journal-title":"IEEE Trans. Fuzzy Syst."},{"key":"10.1016\/j.jfranklin.2026.108545_bib0024","doi-asserted-by":"crossref","DOI":"10.1016\/j.automatica.2025.112480","article-title":"Decentralized prescribed-time input-to-state stabilization for interconnected normal form nonlinear systems","volume":"180","author":"Ye","year":"2025","journal-title":"Automatica"},{"key":"10.1016\/j.jfranklin.2026.108545_bib0025","doi-asserted-by":"crossref","DOI":"10.1016\/j.automatica.2024.111983","article-title":"A separation principle for the prescribed-time stabilization of a class of nonlinear systems","volume":"171","author":"Ye","year":"2025","journal-title":"Automatica"},{"issue":"9","key":"10.1016\/j.jfranklin.2026.108545_bib0026","doi-asserted-by":"crossref","first-page":"4386","DOI":"10.1109\/TCYB.2025.3586153","article-title":"Decentralized prescribed-time control of robotic arm-finger systems for grasping and moving tasks","volume":"55","author":"Ye","year":"2025","journal-title":"IEEE Trans. Cybern."},{"key":"10.1016\/j.jfranklin.2026.108545_bib0027","doi-asserted-by":"crossref","DOI":"10.1016\/j.automatica.2023.111069","article-title":"Practical prescribed-time seeking of a repulsive source by unicycle angular velocity tuning","volume":"154","author":"Todorovski","year":"2023","journal-title":"Automatica"},{"key":"10.1016\/j.jfranklin.2026.108545_bib0028","doi-asserted-by":"crossref","DOI":"10.1016\/j.automatica.2024.111571","article-title":"Decentralized prescribed-time control for interconnected nonlinear systems via output-feedback","volume":"163","author":"Ye","year":"2024","journal-title":"Automatica"},{"issue":"2","key":"10.1016\/j.jfranklin.2026.108545_bib0029","doi-asserted-by":"crossref","first-page":"1115","DOI":"10.1109\/TAC.2024.3451213","article-title":"Decentralized and distributed control of large-scale interconnected multiagent systems in prescribed time","volume":"70","author":"Ye","year":"2025","journal-title":"IEEE Trans. Automat. Contr."},{"key":"10.1016\/j.jfranklin.2026.108545_bib0030","doi-asserted-by":"crossref","first-page":"67","DOI":"10.1016\/j.isatra.2024.05.018","article-title":"RBF Neural network disturbance observer-based backstepping boundary vibration control for Euler-Bernoulli beam model with input saturation","volume":"150","author":"Zhong","year":"2024","journal-title":"ISA Trans."},{"issue":"9","key":"10.1016\/j.jfranklin.2026.108545_bib0031","doi-asserted-by":"crossref","first-page":"5737","DOI":"10.1109\/TAC.2022.3226703","article-title":"Adaptive finite-time tracking control of nonlinear systems with dynamics uncertainties","volume":"68","author":"Wang","year":"2023","journal-title":"IEEE Trans. Automat. Contr."},{"key":"10.1016\/j.jfranklin.2026.108545_bib0032","doi-asserted-by":"crossref","first-page":"109","DOI":"10.1016\/j.isatra.2024.02.015","article-title":"Observer-based adaptive control for slung payload stabilization with a fully-actuated multirotor UAV","volume":"147","author":"Arizaga","year":"2024","journal-title":"ISA Trans."},{"issue":"8","key":"10.1016\/j.jfranklin.2026.108545_bib0033","doi-asserted-by":"crossref","first-page":"9580","DOI":"10.1109\/TIE.2023.3327518","article-title":"An output feedback approach for 3-D prescribed time stabilization control of unmanned underwater vehicles","volume":"71","author":"Zhang","year":"2024","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"1","key":"10.1016\/j.jfranklin.2026.108545_bib0034","doi-asserted-by":"crossref","first-page":"408","DOI":"10.1109\/TAC.2021.3139308","article-title":"A high-order sliding-mode adaptive observer for uncertain nonlinear systems","volume":"68","author":"R\u00edos","year":"2023","journal-title":"IEEE Trans. Automat. Contr."},{"issue":"1","key":"10.1016\/j.jfranklin.2026.108545_bib0035","doi-asserted-by":"crossref","first-page":"426","DOI":"10.1109\/TSMC.2023.3314434","article-title":"Continuous robust control based on fixed-time super-twisting disturbance observer","volume":"54","author":"Mirzaei","year":"2024","journal-title":"IEEE Trans. Syst. Man Cybern. Syst."},{"key":"10.1016\/j.jfranklin.2026.108545_bib0036","doi-asserted-by":"crossref","DOI":"10.1016\/j.automatica.2022.110744","article-title":"Asymptotic convergence unknown input observer design via interval observer","volume":"147","author":"Zhu","year":"2023","journal-title":"Automatica"},{"issue":"8","key":"10.1016\/j.jfranklin.2026.108545_bib0037","doi-asserted-by":"crossref","first-page":"2681","DOI":"10.1007\/s12555-021-0460-y","article-title":"Finite-time fault-tolerant control of robotic systems with uncertain dynamics","volume":"20","author":"Xiong","year":"2022","journal-title":"Int. J. Control Autom. Syst."},{"issue":"6","key":"10.1016\/j.jfranklin.2026.108545_bib0038","doi-asserted-by":"crossref","first-page":"344","DOI":"10.3390\/drones7060344","article-title":"Unknown input observer-based fixed-time trajectory tracking control for QUAV with actuator saturation and faults","volume":"7","author":"Shao","year":"2023","journal-title":"Drones"},{"issue":"2","key":"10.1016\/j.jfranklin.2026.108545_bib0039","doi-asserted-by":"crossref","first-page":"741","DOI":"10.1109\/TSMC.2023.3320091","article-title":"Prescribed-time unknown input observers design for singular systems: a periodic delayed output approach","volume":"54","author":"Li","year":"2024","journal-title":"IEEE Trans. Syst. Man, Cybern. Syst."},{"key":"10.1016\/j.jfranklin.2026.108545_bib0040","series-title":"Introduction to multicopter design and control","author":"Quan","year":"2017"},{"key":"10.1016\/j.jfranklin.2026.108545_bib0041","doi-asserted-by":"crossref","DOI":"10.1016\/j.automatica.2021.110050","article-title":"Practical prescribed time tracking control over infinite time interval involving mismatched uncertainties and non-vanishing disturbances","volume":"136","author":"Cao","year":"2022","journal-title":"Automatica"},{"issue":"2","key":"10.1016\/j.jfranklin.2026.108545_bib0042","doi-asserted-by":"crossref","first-page":"532","DOI":"10.1016\/j.automatica.2008.08.012","article-title":"Adaptive control with guaranteed transient and steady state tracking error bounds for strict feedback systems","volume":"45","author":"Bechlioulis","year":"2009","journal-title":"Automatica"},{"issue":"9","key":"10.1016\/j.jfranklin.2026.108545_bib0043","doi-asserted-by":"crossref","first-page":"5212","DOI":"10.1109\/TSMC.2024.3387836","article-title":"Adaptive anti-disturbance performance guaranteed formation tracking control for quadrotor UAVs via aperiodic signal updating","volume":"54","author":"Jia","year":"2024","journal-title":"IEEE Trans. Syst. Man Cybern. Syst."},{"issue":"4","key":"10.1016\/j.jfranklin.2026.108545_bib0044","doi-asserted-by":"crossref","first-page":"1536","DOI":"10.1109\/TNNLS.2020.2984944","article-title":"Performance guaranteed consensus tracking control of nonlinear multiagent systems: a finite-Time function-Based approach","volume":"32","author":"Cao","year":"2021","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"key":"10.1016\/j.jfranklin.2026.108545_bib0045","doi-asserted-by":"crossref","DOI":"10.1016\/j.oceaneng.2023.116186","article-title":"Improved finite-time prescribed performance super-twisting sliding mode united control framework for underwater vehicle-manipulator system","volume":"288","author":"Xiong","year":"2023","journal-title":"Ocean Eng."},{"issue":"9","key":"10.1016\/j.jfranklin.2026.108545_bib0046","first-page":"3789","article-title":"Prescribed-time control of vehicular platoons based on a disturbance observer","volume":"69","author":"Gao","year":"2022","journal-title":"IEEE Trans. Circuits Syst. II Express Briefs"},{"key":"10.1016\/j.jfranklin.2026.108545_bib0047","doi-asserted-by":"crossref","DOI":"10.1016\/j.oceaneng.2023.113671","article-title":"Barrier Lyapunov function-based adaptive prescribed-time extended state observers design for unmanned surface vehicles subject to unknown disturbances","volume":"270","author":"Zhao","year":"2023","journal-title":"Ocean Eng."}],"container-title":["Journal of the Franklin Institute"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0016003226001456?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0016003226001456?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,5,15]],"date-time":"2026-05-15T08:16:42Z","timestamp":1778833002000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0016003226001456"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,5]]},"references-count":47,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2026,5]]}},"alternative-id":["S0016003226001456"],"URL":"https:\/\/doi.org\/10.1016\/j.jfranklin.2026.108545","relation":{},"ISSN":["0016-0032"],"issn-type":[{"value":"0016-0032","type":"print"}],"subject":[],"published":{"date-parts":[[2026,5]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Practical prescribed-time control for multi-quadrotor cooperative transport system with constraint","name":"articletitle","label":"Article Title"},{"value":"Journal of the Franklin Institute","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.jfranklin.2026.108545","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 The Franklin Institute. Published by Elsevier Inc. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}],"article-number":"108545"}}