# Robust IDA-PBC for under-actuated systems with inertia matrix dependent of the unactuated coordinates: application to a UAV carrying a load

> Research article (Nonlinear Dynamics, 2021) · cited 45× · AI/ML

**Wikidata**: [openalex:W3191200839](https://www.wikidata.org/wiki/openalex:W3191200839)  
**Source**: https://4ort.xyz/entity/robust-ida-pbc-for-under-actuated-systems-with-inertia-matrix-dependent-of-the-unactuated-coordinates-application-to-a-u