Xiao Liang 0010 Peng Zhang Yongchun Fang He Lin Chenping Li Xingang Zhao A Novel Nonlinear Control Scheme for Double-Pendulum Quadrotor Transportation Systems. 714-719 2019 AIM https://doi.org/10.1109/AIM.2019.8868728 conf/aimech/2019 db/conf/aimech/aim2019.html#0010ZFLLZ19