{"id":"https://openalex.org/W2783542972","doi":"https://doi.org/10.1109/cdc.2017.8263859","title":"Task-space adaptive dynamic modularity control of free-floating space manipulators","display_name":"Task-space adaptive dynamic modularity control of free-floating space manipulators","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2783542972","doi":"https://doi.org/10.1109/cdc.2017.8263859","mag":"2783542972"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2017.8263859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2017.8263859","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 56th Annual Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007643306","display_name":"Hanlei Wang","orcid":"https://orcid.org/0000-0002-4966-3089"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Hanlei Wang","raw_affiliation_strings":["Science and Technology on Space Intelligent Control Laboratory, Beijing Institute of Control Engineering, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Science and Technology on Space Intelligent Control Laboratory, Beijing Institute of Control Engineering, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108401200","display_name":"Long Cheng","orcid":"https://orcid.org/0000-0001-7565-8788"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Cheng","raw_affiliation_strings":["University of Chinese Academy of Sciences"],"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013570618","display_name":"Yongchun Xie","orcid":"https://orcid.org/0000-0003-1412-0495"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yongchun Xie","raw_affiliation_strings":["Science and Technology on Space Intelligent Control Laboratory, Beijing Institute of Control Engineering, Beijing, China","Tianjin Key Laboratory of Microgravity and Hypogravity Environment Simulation Technology, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Science and Technology on Space Intelligent Control Laboratory, Beijing Institute of Control Engineering, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Tianjin Key Laboratory of Microgravity and Hypogravity Environment Simulation Technology, Tianjin, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5007643306"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5444,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.80394421,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"4","issue":null,"first_page":"1460","last_page":"1465"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10325","display_name":"Astro and Planetary Science","score":0.9904000163078308,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9484000205993652,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6735186576843262},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.606417179107666},{"id":"https://openalex.org/keywords/modularity","display_name":"Modularity (biology)","score":0.5927596092224121},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5922724008560181},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5891659259796143},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5039593577384949},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.47324854135513306},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4394710659980774},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4213467240333557},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3401165306568146},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16874226927757263},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15778058767318726}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6735186576843262},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.606417179107666},{"id":"https://openalex.org/C2779478453","wikidata":"https://www.wikidata.org/wiki/Q6889748","display_name":"Modularity (biology)","level":2,"score":0.5927596092224121},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5922724008560181},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5891659259796143},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5039593577384949},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.47324854135513306},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4394710659980774},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4213467240333557},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3401165306568146},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16874226927757263},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15778058767318726},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2017.8263859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2017.8263859","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 56th Annual Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1509235676","https://openalex.org/W1535203742","https://openalex.org/W1570929304","https://openalex.org/W1604218902","https://openalex.org/W1909104121","https://openalex.org/W1964511224","https://openalex.org/W1978595173","https://openalex.org/W1980920205","https://openalex.org/W1987306792","https://openalex.org/W1987496530","https://openalex.org/W1990777642","https://openalex.org/W1992604830","https://openalex.org/W2000659221","https://openalex.org/W2009236317","https://openalex.org/W2015982707","https://openalex.org/W2017708671","https://openalex.org/W2024882308","https://openalex.org/W2026769037","https://openalex.org/W2044089809","https://openalex.org/W2059797883","https://openalex.org/W2062691475","https://openalex.org/W2067603665","https://openalex.org/W2086936442","https://openalex.org/W2089816825","https://openalex.org/W2090308161","https://openalex.org/W2091383025","https://openalex.org/W2105229687","https://openalex.org/W2119968060","https://openalex.org/W2124961967","https://openalex.org/W2133668221","https://openalex.org/W2143611759","https://openalex.org/W2147285204","https://openalex.org/W2162112483","https://openalex.org/W2167055252","https://openalex.org/W2171141066","https://openalex.org/W2316253223","https://openalex.org/W2321320854","https://openalex.org/W2531130876","https://openalex.org/W2963093212","https://openalex.org/W3099523296","https://openalex.org/W4298002065","https://openalex.org/W6636008426"],"related_works":["https://openalex.org/W4230687177","https://openalex.org/W1968829728","https://openalex.org/W2349859869","https://openalex.org/W4316651471","https://openalex.org/W3120118008","https://openalex.org/W2969358681","https://openalex.org/W2112559358","https://openalex.org/W2107122120","https://openalex.org/W194970950","https://openalex.org/W2342009288"],"abstract_inverted_index":{"In":[0],"this":[1,54,57],"paper,":[2],"we":[3],"investigate":[4],"the":[5,42,62,66,91,94,101],"task-space":[6,95],"adaptive":[7],"control":[8,25,34,39,68],"problem":[9],"for":[10,60,70],"free-floating":[11],"space":[12,72],"manipulators":[13,73],"with":[14,20],"uncertain":[15],"kinematics":[16],"and":[17,19,56,74,84],"dynamics":[18],"an":[21,30],"unmodifiable":[22,31],"inner":[23,32],"joint":[24,33],"loop.":[26],"The":[27,98],"existence":[28],"of":[29,93,100],"loop":[35,80],"makes":[36],"most":[37],"torque-based":[38],"algorithms":[40],"in":[41],"literature":[43],"inapplicable.":[44],"We":[45],"propose":[46],"a":[47,108],"dynamic":[48],"modularity":[49],"(DM)":[50],"approach":[51,104],"to":[52,86,89],"resolve":[53],"problem,":[55],"is":[58,105],"hopeful":[59],"bridging":[61],"potential":[63],"gap":[64],"between":[65],"advanced":[67],"theory":[69],"(free-floating)":[71],"practical":[75],"engineering":[76],"applications.":[77],"Adaptive":[78],"outer":[79],"controllers":[81],"are":[82],"developed":[83],"shown":[85,106],"be":[87],"able":[88],"guarantee":[90],"convergence":[92],"tracking":[96],"errors.":[97],"performance":[99],"proposed":[102],"DM":[103],"by":[107],"numerical":[109],"simulation.":[110]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}