{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,15]],"date-time":"2026-10-15T16:17:07Z","timestamp":1792081027717,"version":"4.4.0"},"reference-count":40,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2025,11,1]],"date-time":"2025-11-01T00:00:00Z","timestamp":1761955200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2025,11,1]],"date-time":"2025-11-01T00:00:00Z","timestamp":1761955200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"}],"funder":[{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["044420250104"],"award-info":[{"award-number":["044420250104"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100013804","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100013804","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62203086"],"award-info":[{"award-number":["62203086"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62173062"],"award-info":[{"award-number":["62173062"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62206040"],"award-info":[{"award-number":["62206040"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["ISA Transactions"],"published-print":{"date-parts":[[2025,11]]},"DOI":"10.1016\/j.isatra.2025.07.015","type":"journal-article","created":{"date-parts":[[2025,7,15]],"date-time":"2025-07-15T08:46:25Z","timestamp":1752569185000},"page":"353-363","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":5,"special_numbering":"C","title":["Immersion and invariance adaptive controller and mixer for coaxial tilt-rotor UAV"],"prefix":"10.1016","volume":"166","author":[{"given":"Longlong","family":"Chen","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yanmei","family":"Jia","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8539-3979","authenticated-orcid":false,"given":"Sihao","family":"Sun","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6832-590X","authenticated-orcid":false,"given":"Zongyang","family":"Lv","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9317-1404","authenticated-orcid":false,"given":"Yuhu","family":"Wu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"key":"10.1016\/j.isatra.2025.07.015_bib0005","series-title":"Nonlinear and adaptive control with applications","volume":"vol. 187","author":"Astolfi","year":"2008"},{"issue":"4","key":"10.1016\/j.isatra.2025.07.015_bib0010","doi-asserted-by":"crossref","first-page":"590","DOI":"10.1109\/TAC.2003.809820","article-title":"Immersion and invariance: a new tool for stabilization and adaptive control of nonlinear systems","volume":"48","author":"Astolfi","year":"2003","journal-title":"IEEE Trans Autom Control"},{"issue":"2","key":"10.1016\/j.isatra.2025.07.015_bib0015","doi-asserted-by":"crossref","first-page":"360","DOI":"10.3103\/S1068799821020264","article-title":"Mathematical model of the fuselage of a promising high-speed helicopter","volume":"64","author":"Batrakov","year":"2021","journal-title":"Russ Aeronaut"},{"key":"10.1016\/j.isatra.2025.07.015_bib0020","unstructured":"Beard R. Quadrotor dynamics and control rev 0.1. 2008."},{"issue":"2","key":"10.1016\/j.isatra.2025.07.015_bib0025","doi-asserted-by":"crossref","first-page":"213","DOI":"10.1002\/acs.4480090208","article-title":"Technical note self-tuning ziegler-nichols pid controller","volume":"9","author":"Bob\u00e1l","year":"1995","journal-title":"Int J Adapt Control Signal Process"},{"issue":"4","key":"10.1016\/j.isatra.2025.07.015_bib0030","article-title":"Conversion control of a tilt tri-rotor unmanned aerial vehicle with modeling uncertainty","volume":"18","author":"Chen","year":"2021","journal-title":"Int J Adv Rob Syst"},{"issue":"9","key":"10.1016\/j.isatra.2025.07.015_bib0035","doi-asserted-by":"crossref","first-page":"1710","DOI":"10.1109\/JAS.2022.105827","article-title":"Adaptive attitude control for a coaxial tilt-rotor UAV via immersion and invariance methodology","volume":"9","author":"Chen","year":"2022","journal-title":"IEEE\/CAA J Autom Sinica"},{"key":"10.1016\/j.isatra.2025.07.015_bib0040","doi-asserted-by":"crossref","first-page":"1650","DOI":"10.1109\/TRO.2024.3354161","article-title":"Design, modeling, and control of a coaxial drone","volume":"40","author":"Chen","year":"2024","journal-title":"IEEE Trans Robot"},{"issue":"9","key":"10.1016\/j.isatra.2025.07.015_bib0045","doi-asserted-by":"crossref","first-page":"162","DOI":"10.1016\/j.ifacol.2015.08.077","article-title":"Nonlinear dynamic inversion and neural networks for a tilt tri-rotor UAV","volume":"48","author":"D\u2019Amato","year":"2015","journal-title":"IFAC-PapersOnLine"},{"issue":"9","key":"10.1016\/j.isatra.2025.07.015_bib0050","doi-asserted-by":"crossref","first-page":"162","DOI":"10.1016\/j.ifacol.2015.08.077","article-title":"Nonlinear dynamic inversion and neural networks for a tilt tri-rotor UAV","volume":"48","author":"D\u2019Amato","year":"2015","journal-title":"IFAC-PapersOnLine"},{"issue":"4","key":"10.1016\/j.isatra.2025.07.015_bib0055","doi-asserted-by":"crossref","first-page":"1400","DOI":"10.1109\/TCST.2012.2200104","article-title":"Adaptive control of quadrotor UAVs: a design trade study with flight evaluations","volume":"21","author":"Dydek","year":"2013","journal-title":"IEEE Trans Control Syst Technol"},{"issue":"4","key":"10.1016\/j.isatra.2025.07.015_bib0060","doi-asserted-by":"crossref","first-page":"1047","DOI":"10.1007\/s12555-015-0064-5","article-title":"Modeling and simulation of quadrotor UAV with tilting rotors","volume":"14","author":"Elfeky","year":"2016","journal-title":"Int J Control Autom Syst"},{"key":"10.1016\/j.isatra.2025.07.015_bib0065","series-title":"Proceedings of the 2011 American control conference","first-page":"3972","article-title":"Nonlinear control of an autonomous underwater vehicle: a rise-based approach","author":"Fischer","year":"2011"},{"key":"10.1016\/j.isatra.2025.07.015_bib0070","doi-asserted-by":"crossref","first-page":"216519","DOI":"10.1109\/ACCESS.2020.3041030","article-title":"Robust I&I adaptive control for a class of quadrotors with disturbances","volume":"8","author":"Han","year":"2020","journal-title":"IEEE Access"},{"issue":"4","key":"10.1016\/j.isatra.2025.07.015_bib0075","doi-asserted-by":"crossref","first-page":"34","DOI":"10.1109\/MRA.2018.2866758","article-title":"The voliro omniorientational hexacopter: an agile and maneuverable tiltable-rotor aerial vehicle","volume":"25","author":"Kamel","year":"2018","journal-title":"IEEE Robot Autom Mag"},{"key":"10.1016\/j.isatra.2025.07.015_bib0080","series-title":"2007 European control conference (ECC)","first-page":"553","article-title":"Adaptive state feedback design via immersion and invariance","author":"Karagiannis","year":"2007"},{"issue":"6","key":"10.1016\/j.isatra.2025.07.015_bib0085","doi-asserted-by":"crossref","first-page":"1297","DOI":"10.1109\/TRO.2006.882956","article-title":"Modeling and control of a small autonomous aircraft having two tilting rotors","volume":"22","author":"Kendoul","year":"2006","journal-title":"IEEE Trans Robot"},{"issue":"2","key":"10.1016\/j.isatra.2025.07.015_bib0090","doi-asserted-by":"crossref","first-page":"338","DOI":"10.1007\/s42405-020-00300-8","article-title":"Aeromechanics analyses of a modern lift-offset coaxial rotor in high-speed forward flight","volume":"22","author":"Kwon","year":"2021","journal-title":"Int J Aeronaut Space Sci"},{"issue":"9","key":"10.1016\/j.isatra.2025.07.015_bib0095","doi-asserted-by":"crossref","first-page":"2948","DOI":"10.1007\/s12555-021-0105-1","article-title":"Nonlinear cascade control for a new coaxial tilt-rotor uav","volume":"20","author":"Li","year":"2022","journal-title":"Int J Control Autom Syst"},{"issue":"7","key":"10.1016\/j.isatra.2025.07.015_bib0100","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":"4","key":"10.1016\/j.isatra.2025.07.015_bib0105","doi-asserted-by":"crossref","first-page":"2104","DOI":"10.1109\/TASE.2020.3035178","article-title":"A nonlinear control approach for aerial transportation systems with improved antiswing and positioning performance","volume":"18","author":"Liang","year":"2020","journal-title":"IEEE Trans Autom Sci Eng"},{"issue":"3","key":"10.1016\/j.isatra.2025.07.015_bib0110","doi-asserted-by":"crossref","first-page":"67","DOI":"10.4050\/JAHS.54.032005","article-title":"Hover performance correlation for full-scale and model-scale coaxial rotors","volume":"54","author":"Lim","year":"2009","journal-title":"J Am Helicopter Soc"},{"issue":"1","key":"10.1016\/j.isatra.2025.07.015_bib0115","doi-asserted-by":"crossref","first-page":"135","DOI":"10.1016\/j.cja.2016.11.001","article-title":"Control techniques of tilt rotor unmanned aerial vehicle systems: a review","volume":"30","author":"Liu","year":"2017","journal-title":"Chin J Aeronaut"},{"issue":"4","key":"10.1016\/j.isatra.2025.07.015_bib0120","doi-asserted-by":"crossref","first-page":"3810","DOI":"10.1109\/TIE.2021.3075886","article-title":"Design and control of a novel coaxial tilt-rotor UAV","volume":"69","author":"Lv","year":"2022","journal-title":"IEEE Trans Ind Electron"},{"key":"10.1016\/j.isatra.2025.07.015_bib0125","series-title":"2014 IEEE international conference on robotics and automation (ICRA)","first-page":"4500","article-title":"Efficient force exertion for aerial robotic manipulation: exploiting the thrust-vectoring authority of a tri-tiltrotor UAV","author":"Papachristos","year":"2014"},{"issue":"9","key":"10.1016\/j.isatra.2025.07.015_bib0130","doi-asserted-by":"crossref","first-page":"2180","DOI":"10.1109\/TAC.2008.930200","article-title":"Asymptotic tracking for uncertain dynamic systems via a multilayer neural network feedforward and rise feedback control structure","volume":"53","author":"Patre","year":"2008","journal-title":"IEEE Trans Autom Control"},{"key":"10.1016\/j.isatra.2025.07.015_bib0135","series-title":"Proceedings of the 37th IEEE conference on decision and control (Cat. No. 98CH36171)","first-page":"4208","article-title":"Failure detection and identification and fault tolerant control using the IMM-KF with applications to the eagle-eye UAV","author":"Rago","year":"1998"},{"issue":"6","key":"10.1016\/j.isatra.2025.07.015_bib0140","doi-asserted-by":"crossref","first-page":"3340","DOI":"10.1109\/TRO.2022.3173711","article-title":"Model predictive contouring control for time-optimal quadrotor flight","volume":"38","author":"Romero","year":"2022","journal-title":"IEEE Trans Robot"},{"key":"10.1016\/j.isatra.2025.07.015_bib0145","series-title":"2022 37th youth academic annual conference of Chinese Association of Automation (YAC)","first-page":"410","article-title":"An adaptive controller for attitude tracking of a coaxial tilt-rotor UAV","author":"Shen","year":"2022"},{"key":"10.1016\/j.isatra.2025.07.015_bib0150","series-title":"Applied nonlinear control","author":"Slotine","year":"1991"},{"key":"10.1016\/j.isatra.2025.07.015_bib0155","series-title":"2012 American control conference (ACC)","first-page":"131","article-title":"Modeling and control of a tilt tri-rotor airplane","author":"Ta","year":"2012"},{"key":"10.1016\/j.isatra.2025.07.015_bib0160","series-title":"2016 international conference on unmanned aircraft systems (ICUAS)","first-page":"195","article-title":"Influence of propeller configuration on propulsion system efficiency of multi-rotor unmanned aerial vehicles","author":"Theys","year":"2016"},{"issue":"2","key":"10.1016\/j.isatra.2025.07.015_bib0165","doi-asserted-by":"crossref","first-page":"1585","DOI":"10.1109\/TII.2023.3280321","article-title":"Adaptive compensation tracking control for parallel robots actuated by pneumatic artificial muscles with error constraints","volume":"20","author":"Wang","year":"2024","journal-title":"IEEE Trans Ind Inf"},{"issue":"7819","key":"10.1016\/j.isatra.2025.07.015_bib0170","doi-asserted-by":"crossref","first-page":"15","DOI":"10.1038\/d41586-020-02257-w","article-title":"Nasa has launched the most ambitious mars rover ever built: here is what happens next","volume":"584","author":"Witze","year":"2020","journal-title":"Nature"},{"issue":"4","key":"10.1016\/j.isatra.2025.07.015_bib0175","doi-asserted-by":"crossref","first-page":"2158","DOI":"10.1109\/TII.2018.2858143","article-title":"Nonlinear robust fault-tolerant control of the tilt trirotor UAV under rear servo\u2019s stuck fault: theory and experiments","volume":"15","author":"Xian","year":"2018","journal-title":"IEEE Trans Ind Inf"},{"issue":"1","key":"10.1016\/j.isatra.2025.07.015_bib0180","doi-asserted-by":"crossref","first-page":"433","DOI":"10.1002\/asjc.2793","article-title":"Output feedback adaptive rise control for uncertain nonlinear systems","volume":"25","author":"Yang","year":"2023","journal-title":"Asian J Control"},{"issue":"12","key":"10.1016\/j.isatra.2025.07.015_bib0185","first-page":"1","article-title":"Concurrent learning-based adaptive control of underactuated robotic systems with guaranteed transient performance for both actuated and unactuated motions","volume":"35","author":"Yang","year":"2023","journal-title":"IEEE Trans Neural Netw Learn Syst"},{"issue":"6","key":"10.1016\/j.isatra.2025.07.015_bib0190","doi-asserted-by":"crossref","first-page":"1257","DOI":"10.1007\/s12555-013-0009-9","article-title":"Actuator controller based on fuzzy sliding mode control of tilt rotor unmanned aerial vehicle","volume":"12","author":"Yoo","year":"2014","journal-title":"Int J Control Autom Syst"},{"issue":"2","key":"10.1016\/j.isatra.2025.07.015_bib0195","doi-asserted-by":"crossref","first-page":"722","DOI":"10.1007\/s12555-020-0110-9","article-title":"Immersion and invariance-based sliding mode attitude control of tilt tri-rotor UAV in helicopter mode","volume":"19","author":"Yu","year":"2021","journal-title":"Int J Control Autom Syst"},{"key":"10.1016\/j.isatra.2025.07.015_bib0200","series-title":"2017 IEEE international conference on information and automation (ICIA)","first-page":"983","article-title":"Transition flight modeling and control of a novel tilt tri-rotor UAV","author":"Yu","year":"2017"}],"container-title":["ISA Transactions"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0019057825003647?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0019057825003647?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T11:42:50Z","timestamp":1777462970000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0019057825003647"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,11]]},"references-count":40,"alternative-id":["S0019057825003647"],"URL":"https:\/\/doi.org\/10.1016\/j.isatra.2025.07.015","relation":{},"ISSN":["0019-0578"],"issn-type":[{"value":"0019-0578","type":"print"}],"subject":[],"published":{"date-parts":[[2025,11]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Immersion and invariance adaptive controller and mixer for coaxial tilt-rotor UAV","name":"articletitle","label":"Article Title"},{"value":"ISA Transactions","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.isatra.2025.07.015","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2025 International Society of Automation. Published by Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}]}}