[1] 梁潇, 方勇纯, 孙宁. 平面四旋翼无人飞行器运送系统的轨迹规划与跟踪控制器设计. 控制理论与应用, 2015, 32(11): 1430−1438

Liang Xiao, Fang Yong-Chun, Sun Ning. Trajectory planning and tracking controller design for a planar quadrotor unmanned aerial vehicle transportation system. Control Theory and Applications, 2015, 32(11): 1430−1438
[2] Alothman Y, Gu D B. Quadrotor transporting cablesuspended load using iterative Linear Quadratic regulator (iLQR) optimal control. In: Proceedings of the 8th IEEE Conference on Computer Science and Electronic Engineering. Colchester, UK: IEEE, 2017. 168−173
[3] Qian L H, Liu H H T. Dynamics and control of a quadrotor with a cable suspended payload. In: Proceedings of the 30th IEEE Canadian Conference on Electrical and Computer Engineering. Windsor, Canada: IEEE, 2017. 1−4
[4] 王诗章, 鲜斌, 杨森. 无人机吊挂飞行系统的减摆控制设计. 自动化学报, 2018, 44(10): 45−54

Wang Shi-Zhang, Xian Bin, Yang Sen. Anti-swing controller design for an unmanned aerial vehicle with a slung-load. Acta Automatica Sinica, 2018, 44(10): 45−54
[5] Cruz P J, Oishi M, Fierro R. Lift of a cable-suspended load by a quadrotor: A hybrid system approach. In: Proceedings of the 2015 IEEE American Control Conference. Chicago, IL, USA: IEEE, 2015. 1887−1892
[6] Cruz P J, Fierro R. Cable-suspended load lifting by a quadrotor UAV: Hybrid model, trajectory generation, and control. Autonomous Robots, 2017, 41(8): 1629−1643 doi: 10.1007/s10514-017-9632-2
[7] de Angelis E L, Giulietti F, Pipeleers G. Two-time-scale control of a multirotor aircraft for suspended load transportation. Aerospace Science and Technology, 2019, 84(2019): 193−203
[8] Isidori A, Wang B, Zhuang S X. Nonlinear Control System I. Beijing: Electronics Industry Press, 2012.
[9] 梁晓, 胡欲立. 基于微分平滑的四旋翼运输系统轨迹跟踪控制. 控制理论与应用, 2019, 36(4): 525−532

Liang Xiao, Hu Yu-Li. Trajectory control of a quadrotor with a cable-suspended load based on differential Flatness. Control Theory and Applications, 2019, 36(4): 525−532
[10] Lee T, Leok M, McClamroch N H. Geometric tracking control of a quadrotor UAV on SE(3). In: Proceedings of the 49th IEEE Conference on Decision and Control (CDC). Atlanta, GA, USA: IEEE, 2010. 5420−5425
[11] 王宁, 王永. 基于模糊不确定观测器的四旋翼飞行器自适应动态面轨 迹跟踪控制. 自动化学报, 2018, 44(4): 685−695

Wang Ning, Wang Yong. Fuzzy uncertainty observer based adaptive dynamic surface control for trajectory tracking of a quadrotor. Acta Automatica Sinica, 2018, 44(4): 685−695
[12] 陈乐生, 王以伦. 多刚体动力学基础. 哈尔滨: 哈尔滨工程大学出版社, 1995.

Chen Le-Sheng, Wang Yi-Lun. Multi-body System Dynamics. Harbin: Harbin Engineering University Press, 1995.
[13] 赵杰梅, 胡忠辉. 基于动态反馈的AUV水平面路径跟踪控制. 浙江大学学报(工学版), 2018, 52(18): 1467−1481

Zhao Jie-Mei, Hu Zhong-Hui. Path following control of AUV in horizontal plane based on dynamic feedback control. Journal of Zhejiang University (Engineering Science), 2018, 52(18): 1467−1481
[14] 苏善伟, 朱波, 向锦武, 林岩. 非线性非最小相位系统的控制研究综 述. 自动化学报, 2015, 41(1): 9−21

Su Shan-Wei, Zhu Bo, Xiang Jin-Wu, Lin Yan. A survey on the control of nonlinear non-minimum phase systems. Acta Automatica Sinica, 2015, 41(1): 9−21
[15] 易国, 毛建旭, 王耀南, 郭斯羽, 缪志强. 非完整移动机器人目标环绕动态反馈 线性化控制. 控制理论与应用, 2017, 34(7): 895−902 doi: 10.7641/CTA.2017.60962

Yi Guo, Mao Jian-Xu, Wang Yao-Nan, Guo Si-Yu, Miao Zhi-Qiang. Circumnavigation of a target with nonholonomic mobile robots via dynamic feedback linearization. Control Theory and Applications, 2017, 34(7): 895−902 doi: 10.7641/CTA.2017.60962
[16] Fliess M. Flatness and defect of non-linear systems: Introductory theory and examples. International Journal of Control, 1995, 61(6): 1327−1361 doi: 10.1080/00207179508921959
[17] Taniguchi T, Eciolaza L, Sugeno M. Quadrotor control using dynamic feedback linearization based on piecewise bilinear models. In: Proceedings of the 2014 IEEE Symposium on Computational Intelligence in Control and Automation (CICA). Orlando, USA: IEEE, 2014. 1−7
[18] Choi I H, Bang H C. Quadrotor-tracking controller design using adaptive dynamic feedback-linearization method. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 2013, 228(12): 2329−2342
[19] Rego B S, Raffo G V. Suspended load path tracking control based on zonotopic state estimation using a tilt-rotor UAV. In: Proceedings of the 19th IEEE International Conference on Intelligent Transportation Systems (ITSC). Rio de Janeiro, Brazil: IEEE, 2016. 1445−1451