{"id":"https://openalex.org/W2563432236","doi":"https://doi.org/10.1109/iros.2016.7759712","title":"Decoupled design of controllers for aerial manipulation with quadrotors","display_name":"Decoupled design of controllers for aerial manipulation with quadrotors","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2563432236","doi":"https://doi.org/10.1109/iros.2016.7759712","mag":"2563432236"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759712","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759712","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5102024448","display_name":"Pedro O. Pereira","orcid":"https://orcid.org/0000-0001-5840-3767"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Pedro O. Pereira","raw_affiliation_strings":["School of Electrical Engineering, KTH Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078800000","display_name":"Riccardo Zanella","orcid":"https://orcid.org/0000-0001-5764-9896"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Riccardo Zanella","raw_affiliation_strings":["School of Electrical Engineering, KTH Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055348953","display_name":"Dimos V. Dimarogonas","orcid":"https://orcid.org/0000-0001-7309-8086"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Dimos V. Dimarogonas","raw_affiliation_strings":["School of Electrical Engineering, KTH Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5102024448"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":2.1424,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.88671686,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4849","last_page":"4855"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.998199999332428,"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":0.8207216262817383},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7365325689315796},{"id":"https://openalex.org/keywords/flatness","display_name":"Flatness (cosmology)","score":0.6742136478424072},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.5659772753715515},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.562980055809021},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5494906902313232},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5046824216842651},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.48985812067985535},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.47651445865631104},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4356984496116638},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.42742520570755005},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42375561594963074},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31903043389320374},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2788001298904419},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1835383176803589},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12075698375701904},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08509454131126404},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07573869824409485}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8207216262817383},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7365325689315796},{"id":"https://openalex.org/C2778530986","wikidata":"https://www.wikidata.org/wiki/Q5457948","display_name":"Flatness (cosmology)","level":3,"score":0.6742136478424072},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.5659772753715515},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.562980055809021},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5494906902313232},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5046824216842651},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48985812067985535},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.47651445865631104},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4356984496116638},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.42742520570755005},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42375561594963074},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31903043389320374},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2788001298904419},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1835383176803589},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12075698375701904},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08509454131126404},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07573869824409485},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"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/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759712","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759712","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8199999928474426}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W306312984","https://openalex.org/W1525021737","https://openalex.org/W1591724360","https://openalex.org/W1964342070","https://openalex.org/W1980376051","https://openalex.org/W2007554064","https://openalex.org/W2012252652","https://openalex.org/W2019896740","https://openalex.org/W2028154285","https://openalex.org/W2050435126","https://openalex.org/W2061889679","https://openalex.org/W2065576483","https://openalex.org/W2070930832","https://openalex.org/W2078580336","https://openalex.org/W2083524308","https://openalex.org/W2092615847","https://openalex.org/W2093626735","https://openalex.org/W2112651507","https://openalex.org/W2121385616","https://openalex.org/W2138396958","https://openalex.org/W2152401871","https://openalex.org/W2162546869","https://openalex.org/W2513726252","https://openalex.org/W2574792644","https://openalex.org/W3146047311","https://openalex.org/W4230504900","https://openalex.org/W6635400741","https://openalex.org/W6655188812","https://openalex.org/W6666890642"],"related_works":["https://openalex.org/W1510405023","https://openalex.org/W3084584616","https://openalex.org/W2908567939","https://openalex.org/W2385194773","https://openalex.org/W1998511116","https://openalex.org/W1966842581","https://openalex.org/W2007751090","https://openalex.org/W2736496609","https://openalex.org/W3131896729","https://openalex.org/W4281993060"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,42,61,81],"model":[4],"an":[5],"aerial":[6,32],"vehicle,":[7],"specifically":[8],"a":[9,12,19,24,70,86,136,144],"quadrotor,":[10],"and":[11,34,69,121,125,148],"load":[13],"attached":[14],"to":[15,94,104],"each":[16],"other":[17],"by":[18,83],"rigid":[20,36,78],"link.":[21],"We":[22,109],"assume":[23],"torque":[25,67,87,123],"input":[26],"at":[27],"the":[28,31,35,44,53,56,65,74,77,106,114,117,122,132,141,155],"joint":[29],"between":[30],"vehicle":[33],"link":[37],"is":[38,92,102],"available.":[39],"After":[40],"modeling,":[41],"decouple":[43],"system":[45],"dynamics":[46],"in":[47],"two":[48,99],"separate":[49,100],"subsystems,":[50],"one":[51],"concerning":[52,73],"position":[54,138],"of":[55,58,76],"center":[57],"mass,":[59],"which":[60,80,153],"control":[62,82,88,111],"independently":[63],"from":[64],"chosen":[66],"input;":[68],"second":[71],"subsystem,":[72],"attitude":[75],"link,":[79],"appropriately":[84],"designing":[85],"law.":[89],"Differential":[90],"flatness":[91],"used":[93],"show":[95],"that":[96,129,131],"controlling":[97,105],"these":[98],"systems":[101],"equivalent":[103],"complete":[107],"system.":[108],"design":[110],"laws":[112],"for":[113],"quadrotor":[115,118,133],"thrust,":[116],"angular":[119],"velocity":[120],"input,":[124],"provide":[126],"convergence":[127],"proofs":[128],"guarantee":[130],"follows":[134,143],"asymptotically":[135],"desired":[137,145],"trajectory":[139],"while":[140],"manipulator":[142],"orientation.":[146],"Simulation":[147],"experimental":[149],"works":[150],"are":[151],"presented":[152],"validate":[154],"proposed":[156],"algorithms.":[157]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}