{"id":"https://openalex.org/W3008129951","doi":"https://doi.org/10.1109/icra40945.2020.9197055","title":"Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor","display_name":"Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3008129951","doi":"https://doi.org/10.1109/icra40945.2020.9197055","mag":"3008129951"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197055","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197055","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2003.00472","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084187885","display_name":"Yuri S. Sarkisov","orcid":"https://orcid.org/0000-0002-7656-5273"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Yuri S. Sarkisov","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany","[German Aerospace Center]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"[German Aerospace Center]","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101828960","display_name":"Min Jun Kim","orcid":"https://orcid.org/0000-0003-0605-4512"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Min Jun Kim","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany","[German Aerospace Center]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"[German Aerospace Center]","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076030909","display_name":"Andre Coelho","orcid":"https://orcid.org/0000-0002-0917-5574"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andre Coelho","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany","[German Aerospace Center]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"[German Aerospace Center]","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056458774","display_name":"Dzmitry Tsetserukou","orcid":"https://orcid.org/0000-0001-8055-5345"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Dzmitry Tsetserukou","raw_affiliation_strings":["Space CREI, Skolkovo Institute of Science and Technology (Skoltech), Moscow, Russia","Skoltech#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Space CREI, Skolkovo Institute of Science and Technology (Skoltech), Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"Skoltech#TAB#","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048539897","display_name":"Christian Ott","orcid":"https://orcid.org/0000-0003-0987-7493"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Ott","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany","[German Aerospace Center]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"[German Aerospace Center]","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108078580","display_name":"Konstantin Kondak","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Konstantin Kondak","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany","[German Aerospace Center]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"[German Aerospace Center]","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1489,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.42087129,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"5349","last_page":"5355"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9961000084877014,"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"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9961000084877014,"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"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9883999824523926,"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"}},{"id":"https://openalex.org/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.987500011920929,"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":0.8285939693450928},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.5905160903930664},{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.5428405404090881},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5396521091461182},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5209494829177856},{"id":"https://openalex.org/keywords/oscillation","display_name":"Oscillation (cell signaling)","score":0.5148558020591736},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45383787155151367},{"id":"https://openalex.org/keywords/linear-quadratic-regulator","display_name":"Linear-quadratic regulator","score":0.425988107919693},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39020511507987976},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33954375982284546},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2882651686668396},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06931114196777344}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8285939693450928},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.5905160903930664},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.5428405404090881},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5396521091461182},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5209494829177856},{"id":"https://openalex.org/C2778439541","wikidata":"https://www.wikidata.org/wiki/Q7106412","display_name":"Oscillation (cell signaling)","level":2,"score":0.5148558020591736},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45383787155151367},{"id":"https://openalex.org/C98779006","wikidata":"https://www.wikidata.org/wiki/Q2520550","display_name":"Linear-quadratic regulator","level":3,"score":0.425988107919693},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39020511507987976},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33954375982284546},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2882651686668396},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06931114196777344},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra40945.2020.9197055","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197055","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2003.00472","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.00472","pdf_url":"https://arxiv.org/pdf/2003.00472","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3008129951","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2003.00472","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2003.00472","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2003.00472","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2003.00472","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.00472","pdf_url":"https://arxiv.org/pdf/2003.00472","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.9200000166893005}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3008129951.pdf","grobid_xml":"https://content.openalex.org/works/W3008129951.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W1971908862","https://openalex.org/W2109656638","https://openalex.org/W2115175699","https://openalex.org/W2150024155","https://openalex.org/W2536620281","https://openalex.org/W2615395590","https://openalex.org/W2791569555","https://openalex.org/W2792083172","https://openalex.org/W2809496864","https://openalex.org/W2809971797","https://openalex.org/W2886528906","https://openalex.org/W2890712395","https://openalex.org/W2891005336","https://openalex.org/W2911034380","https://openalex.org/W2949553586","https://openalex.org/W2965045310","https://openalex.org/W2967173189","https://openalex.org/W2967319184","https://openalex.org/W3090676277","https://openalex.org/W3091218135","https://openalex.org/W6680782604","https://openalex.org/W6745883366"],"related_works":["https://openalex.org/W3091609937","https://openalex.org/W766858548","https://openalex.org/W3128307651","https://openalex.org/W2290729642","https://openalex.org/W337196889","https://openalex.org/W3010949428","https://openalex.org/W3085397643","https://openalex.org/W2965948780","https://openalex.org/W2181303046","https://openalex.org/W2302250382","https://openalex.org/W2337131715","https://openalex.org/W2381585986","https://openalex.org/W2079627577","https://openalex.org/W3165459981","https://openalex.org/W2147254448","https://openalex.org/W2048167489","https://openalex.org/W171982038","https://openalex.org/W2736822612","https://openalex.org/W2023030684","https://openalex.org/W2350439993"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,20,27,31,64,68,86],"design":[4,63],"of":[5,98],"oscillation":[6],"damping":[7],"control":[8,32],"for":[9],"the":[10,38,55,92,96],"cable-Suspended":[11],"Aerial":[12],"Manipulator":[13],"(SAM).":[14],"The":[15,34,72,117],"SAM":[16,70],"is":[17,37,42,75,107,120],"modeled":[18],"as":[19,30],"double":[21],"pendulum,":[22],"and":[23,124],"it":[24,106],"can":[25],"generate":[26],"body":[28],"wrench":[29],"action.":[33],"main":[35],"challenge":[36],"fact":[39],"that":[40],"there":[41],"only":[43],"one":[44],"onboard":[45],"IMU":[46],"sensor":[47],"which":[48],"does":[49],"not":[50],"provide":[51],"full":[52],"information":[53],"on":[54],"system":[56],"state.":[57],"To":[58],"overcome":[59],"this":[60],"difficulty,":[61],"we":[62,84],"controller":[65,74,94],"motivated":[66],"by":[67,90],"simplified":[69],"model.":[71],"proposed":[73,93,118],"very":[76],"simple":[77],"yet":[78],"robust":[79],"to":[80,109],"model":[81],"uncertainties.":[82],"Moreover,":[83],"propose":[85],"gain":[87],"tuning":[88],"rule":[89],"formulating":[91],"in":[95],"form":[97],"output":[99],"feedback":[100],"linear":[101],"quadratic":[102],"regulation":[103],"problem.":[104],"Consequently,":[105],"possible":[108],"quickly":[110],"dampen":[111],"oscillations":[112],"with":[113],"minimal":[114],"energy":[115],"consumption.":[116],"approach":[119],"validated":[121],"through":[122],"simulations":[123],"experiments.":[125]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2022-07-24T00:00:00"}