{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T16:01:49Z","timestamp":1777910509124,"version":"3.51.4"},"reference-count":26,"publisher":"SAGE Publications","issue":"14","license":[{"start":{"date-parts":[[2019,5,9]],"date-time":"2019-05-09T00:00:00Z","timestamp":1557360000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"name":"the Project of the National Technology special innovation zone","award":["17H86303ZT00200507"],"award-info":[{"award-number":["17H86303ZT00200507"]}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Transactions of the Institute of Measurement and Control"],"published-print":{"date-parts":[[2019,10]]},"abstract":"<jats:p>The path following control of quad-rotors transporting uncertain payloads, whose control system is featured with time-variation, high nonlinearity and strong couplings among state variables and inputs, is investigated. Targeting this, an internal model frame-based disturbance attenuation control scheme that requires only rough model information is proposed. Firstly, a novel disturbance estimator (DE) for general single-input-single-output (SISO) system is proposed. Secondly, the DE proposed is applied in transporting unknown payloads by quad-rotors, to estimate the disturbances caused by the payloads for feedback compensation. Lastly, the control scheme based on internal model frame is designed to further reduce the remaining disturbances from disturbance estimation error.<\/jats:p>","DOI":"10.1177\/0142331219842323","type":"journal-article","created":{"date-parts":[[2019,5,10]],"date-time":"2019-05-10T02:47:57Z","timestamp":1557456477000},"page":"3991-4000","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":11,"title":["An internal model frame-based disturbance attenuation control scheme for quad-rotors transporting unknown payloads"],"prefix":"10.1177","volume":"41","author":[{"given":"Hongda","family":"Li","sequence":"first","affiliation":[{"name":"College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, PR China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuan","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, PR China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhiwei","family":"Shi","sequence":"additional","affiliation":[{"name":"College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, PR China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Min","family":"Chang","sequence":"additional","affiliation":[{"name":"Unmanned System Research Institute, Northwestern Polytechnical University, Xi\u2019an, PR China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2019,5,9]]},"reference":[{"key":"bibr1-0142331219842323","doi-asserted-by":"publisher","DOI":"10.23919\/ECC.1997.7082337"},{"key":"bibr2-0142331219842323","first-page":"21","volume-title":"2013 Latin American Robotics Symposium and Competition, IEEE","author":"Cavalcante Sa R","year":"2013"},{"key":"bibr3-0142331219842323","doi-asserted-by":"publisher","DOI":"10.1016\/j.jprocont.2011.01.007"},{"key":"bibr4-0142331219842323","doi-asserted-by":"publisher","DOI":"10.1177\/0954410013516251"},{"key":"bibr5-0142331219842323","doi-asserted-by":"publisher","DOI":"10.1177\/0954410016660871"},{"key":"bibr6-0142331219842323","doi-asserted-by":"publisher","DOI":"10.1021\/i200017a016"},{"key":"bibr7-0142331219842323","doi-asserted-by":"publisher","DOI":"10.1155\/2014\/274293"},{"key":"bibr8-0142331219842323","doi-asserted-by":"publisher","DOI":"10.1155\/2015\/857291"},{"key":"bibr9-0142331219842323","first-page":"583","volume-title":"2013 17th International Conference on System Theory, Control and Computing (ICSTCC), IEEE","author":"Hernandez A","year":"2013"},{"key":"bibr10-0142331219842323","volume-title":"Model Free Adaptive Control: Theory and Applications","author":"Hou ZS","year":"2016"},{"key":"bibr11-0142331219842323","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(78)90001-8"},{"key":"bibr12-0142331219842323","volume-title":"Reentry vehicle flight controls design guidelines: dynamic inversion","author":"Ito D","year":"2002"},{"key":"bibr13-0142331219842323","doi-asserted-by":"publisher","DOI":"10.1177\/0142331217728568"},{"key":"bibr14-0142331219842323","doi-asserted-by":"publisher","DOI":"10.1177\/1687814016680799"},{"key":"bibr15-0142331219842323","doi-asserted-by":"publisher","DOI":"10.1177\/0142331218788115"},{"key":"bibr16-0142331219842323","doi-asserted-by":"publisher","DOI":"10.1177\/0142331215611210"},{"key":"bibr17-0142331219842323","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2015.03.005"},{"key":"bibr18-0142331219842323","doi-asserted-by":"publisher","DOI":"10.1109\/ICSTC.2017.8011844"},{"key":"bibr19-0142331219842323","unstructured":"Rose C (2013) Amazon\u2019s Jeff Bezos Looks to the Future. 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