Yuchun Li, Chongxiao Shi*, Wu Yiming, Obstacle-avoidance and anti-swing trajectory planning for aerial transportation systems with double-pendulum swing effects. IEEE Transactions on Industrial Electronics , in press, DOI: 10.1109/TIE.2025.3637380. 

Wu Yiming*  , Zhang Qi, Zhao Jingwei, Zhang Ziyan, Dong Jiuxiang,  An anti-swing trajectory tracking approach for quadrotor tethered transportation systems: Self-regulating time-varying gain and underactuation control. Mechanical Systems and Signal Processing, 2026, 242: 113631. 

Wu Yiming*, Yuchun Li, Dong Jiuxiang, A nonlienar trajectory tracking approach of double-pendulum aerial transportation systems: Transient performance improvement and saturated inputs. IEEE Transactions on Automation Science and Engineering, 2025, 22: 20667-20678.

Wu Yiming*, Yu Tianyu, Zhang Qi, Zhao Pengyu, Liang Dingkun, Dong Jiuxiang, Task-oriented adaptive sliding mode-based control for underactuated aerial cargo transportation systems: antiswing and finite-time positioning. Journal of Control and Decision, 2025, in press, DOI: 10.1080/23307706.2025.2451949.

Wu Yiming, Zhao Pengyu, Liang Dingkun*, Dong Jiuxiang, A Learning-based anti-swing trajectory refinement approach for UAVs with cable-suspended payload without offline training. IEEE Transactions on Intelligent Vehicles, 2024, 9(11): 6950-6959.

Wu Yiming, Sun Ning*, Chen He, Fang Yongchun, New adaptive dynamic output feedback control of double-pendulum ship-mounted cranes with accurate gravitational compensation and constrained inputs. IEEE Transactions on Industrial Electronics, 2022, 69(9): 9196-9205.

Wu Yiming, Sun Ning*, Fang Yongchun, Liang Dingkun, An increased nonlinear coupling motion controller for underactuated multi-TORA systems: Theoretical design and hardware experimentation. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2019, 49(6): 1186-1193. [(曾)入选ESI高被引]

Wu Yiming, Sun Ning*, Chen He, Fang Yongchun, Adaptive output feedback control for 5-DOF varying-cable-length tower cranes with cargo mass estimation. IEEE Transactions on Industrial Informatics, 2021, 17(4): 2453-2464. [(曾)入选ESI高被引]

 Wu Yiming, Sun Ning*, Chen He, Zhang Jianyi, Fang Yongchun, Nonlinear time-optimal trajectory planning for varying-rope-length overhead cranes. Assembly Automation, 2018, 38(5): 587-594.

Zhou Yongtao, Wu Yiming*, A Neural Network-based state-constrained control strategy for underactuated aerial transportation systems within narrow workspace, Symmetry, 2024, 16(11): 1512-1-20.

Sun Ning#, Wu Yiming#, Chen He, Fang Yongchun*, An energy-optimal solution for transportation control of crane with double pendulum dynamics: Design and experiments. Mechanical Systems and Signal Processing, 2018, 102(1): 87-101. [入选爱思唯尔(Elsevier)为庆祝南开大学百年校庆推出的123篇论文合辑,是机器人与自动化方向唯一一篇入选论文]

Sun Ning, Wu Yiming, Liang Xiao, Fang Yongchun*, Nonlinear stable transportation control for double-pendulum shipboard cranes with ship motion-induced disturbances, IEEE Transactions on Industrial Electronics, 2019, 66(12): 9467-9479.

Sun Ning, Wu Yiming, Fang Yongchun*, Chen He, Nonlinear stabilization control of multiple-RTAC systems subject to amplitude-restricted actuating torques using only angular position feedback, IEEE Transactions on Industrial Electronics, 2017, 64(4): 3084-3094.

Sun Ning, Wu Yiming, Fang Yongchun*, Chen He, Lu Biao, Nonlinear Continuous global stabilization control for Underactuated RTAC systems: Design, analysis, and experimentation, IEEE/ASME Transactions on Mechatronics, 2017, 22(2): 1104-1115.

Sun Ning, Wu Yiming, Fang Yongchun*, Chen He, Nonlinear antiswing control for crane systems with double pendulum swing effects and uncertain parameters: Design and experiments, IEEE Transactions on Automation Science and Engineering, 2018, 15(3): 1413-1422. [(曾)入选ESI高被引]

Sun Ning, Wu Yiming, Chen He, Fang Yongchun*, Antiswing cargo transportation of underactuated tower crane systems by a nonlinear controller embedded with an integral term, IEEE Transactions on Automation Science and Engineering, 2019, 16(3): 1387-1398.

孙宁，吴易鸣，方勇纯，陈鹤，多旋转激励平移振荡器系统非线性耦合自适应控制方法，中国发明专利，专利号：ZL201710273827.3

孙宁，吴易鸣，方勇纯，陈鹤，双摆吊车能耗最优轨迹规划方法，中国发明专利，专利号：ZL201710259680.2

孙宁，吴易鸣，陈鹤，张建一，方勇纯，变绳长起重机系统时间最优轨迹规划方法、装置及系统，中国发明专利，专利号：ZL201810146833.7