{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,17]],"date-time":"2026-01-17T23:06:24Z","timestamp":1768691184749,"version":"3.49.0"},"reference-count":15,"publisher":"World Scientific Pub Co Pte Ltd","issue":"03","funder":[{"name":"NSERC, Canada","award":["Discovery Grant # 203060-12"],"award-info":[{"award-number":["Discovery Grant # 203060-12"]}]},{"name":"NSERC, Canada","award":["Discovery Grant # 203060-12"],"award-info":[{"award-number":["Discovery Grant # 203060-12"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Un. Sys."],"published-print":{"date-parts":[[2017,7]]},"abstract":"<jats:p> In this paper, modeling, control and state estimation of a manipulating unmanned aerial vehicle (UAV) consisting of a quadcopter equipped with a two degree-of-freedom robotic manipulator is discussed. In the first step, Euler\u2013Lagrange approach is adopted to model the coupled dynamics of the quadcopter and its robotic manipulator. Having linearized the obtained model, a linear quadratic regulator is designed to achieve simultaneous control of the quadcopter and the manipulator. Finally, a UKF-based algorithm is employed to obtain state estimation of the system. For a case study, simulation results are presented to verify feasibility of the proposed approach. <\/jats:p>","DOI":"10.1142\/s2301385017400015","type":"journal-article","created":{"date-parts":[[2017,7,21]],"date-time":"2017-07-21T03:37:48Z","timestamp":1500608268000},"page":"131-139","source":"Crossref","is-referenced-by-count":23,"title":["UKF\u2013Based LQR Control of a Manipulating Unmanned Aerial Vehicle"],"prefix":"10.1142","volume":"05","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1292-8987","authenticated-orcid":false,"given":"Hossein Bonyan","family":"Khamseh","sequence":"first","affiliation":[{"name":"Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Canada"},{"name":"Robotics, Mechatronics and Automation Laboratory (RMAL), Ryerson University, Toronto, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Farrokh","family":"Janabi-Sharifi","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Canada"},{"name":"Robotics, Mechatronics and Automation Laboratory (RMAL), Ryerson University, Toronto, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2017,10,10]]},"reference":[{"key":"S2301385017400015BIB002","doi-asserted-by":"publisher","DOI":"10.1080\/00207720500438480"},{"key":"S2301385017400015BIB005","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2006.876930"},{"key":"S2301385017400015BIB006","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-010-9205-0"},{"key":"S2301385017400015BIB017","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-013-9936-1"},{"key":"S2301385017400015BIB021","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-013-9934-3"},{"key":"S2301385017400015BIB025","doi-asserted-by":"publisher","DOI":"10.1109\/9.847726"},{"key":"S2301385017400015BIB027","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2011.5705660"},{"key":"S2301385017400015BIB028","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2011.2163913"},{"key":"S2301385017400015BIB029","volume-title":"Robotics: Modelling, Planning and Control","author":"Siciliano B.","year":"2010"},{"key":"S2301385017400015BIB030","volume-title":"Optimal Control Theory: An Introduction","author":"Kirk D. 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