{"id":"https://openalex.org/W4285256625","doi":"https://doi.org/10.1109/lcsys.2022.3184820","title":"RISE-Based Trajectory Tracking Control of an Aerial Manipulator Under Uncertainty","display_name":"RISE-Based Trajectory Tracking Control of an Aerial Manipulator Under Uncertainty","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4285256625","doi":"https://doi.org/10.1109/lcsys.2022.3184820"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2022.3184820","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2022.3184820","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-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/A5101807818","display_name":"Dongjae Lee","orcid":"https://orcid.org/0000-0002-4068-7340"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dongjae Lee","raw_affiliation_strings":["Department of Aerospace Engineering and the Automation and Systems Research Institute, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-4068-7340","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering and the Automation and Systems Research Institute, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050201316","display_name":"Jeonghyun Byun","orcid":"https://orcid.org/0000-0001-7937-8564"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jeonghyun Byun","raw_affiliation_strings":["Department of Aerospace Engineering and the Automation and Systems Research Institute, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-7937-8564","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering and the Automation and Systems Research Institute, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073996122","display_name":"H. Jin Kim","orcid":"https://orcid.org/0000-0002-6819-1136"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"H. Jin Kim","raw_affiliation_strings":["Department of Aerospace Engineering and the Automation and Systems Research Institute, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-6819-1136","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering and the Automation and Systems Research Institute, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":2.6699,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.89807722,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"6","issue":null,"first_page":"3379","last_page":"3384"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":1.0,"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":1.0,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T12158","display_name":"Guidance and Control Systems","score":0.9988999962806702,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8819067478179932},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7009577751159668},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.6556345224380493},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.620756983757019},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5671571493148804},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5299540162086487},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5142709612846375},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.5047246217727661},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.5043326616287231},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.48874735832214355},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4671069383621216},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4391452372074127},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4121137261390686},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3644481301307678},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3422033190727234},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3017660081386566},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2684277892112732},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17746928334236145},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14090141654014587},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.12042540311813354}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8819067478179932},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7009577751159668},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.6556345224380493},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.620756983757019},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5671571493148804},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5299540162086487},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5142709612846375},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.5047246217727661},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.5043326616287231},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.48874735832214355},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4671069383621216},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4391452372074127},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4121137261390686},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3644481301307678},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3422033190727234},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3017660081386566},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2684277892112732},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17746928334236145},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14090141654014587},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.12042540311813354},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lcsys.2022.3184820","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2022.3184820","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1561858273","https://openalex.org/W1964573745","https://openalex.org/W1969075014","https://openalex.org/W1986045690","https://openalex.org/W2073331253","https://openalex.org/W2092615847","https://openalex.org/W2093626735","https://openalex.org/W2101433417","https://openalex.org/W2109656638","https://openalex.org/W2342759786","https://openalex.org/W2477934502","https://openalex.org/W2563432236","https://openalex.org/W2578741808","https://openalex.org/W2757657624","https://openalex.org/W2791569555","https://openalex.org/W2888989327","https://openalex.org/W2902353813","https://openalex.org/W2956083193","https://openalex.org/W2969259835","https://openalex.org/W2994412884","https://openalex.org/W3025179402","https://openalex.org/W3033522358","https://openalex.org/W3042779015","https://openalex.org/W3089968696","https://openalex.org/W3111228495","https://openalex.org/W3112830500","https://openalex.org/W3114517548","https://openalex.org/W3174123873","https://openalex.org/W3177047445","https://openalex.org/W3207925858","https://openalex.org/W3212325295"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W33907905","https://openalex.org/W2126607016","https://openalex.org/W2210722882","https://openalex.org/W2534107666","https://openalex.org/W3006614820","https://openalex.org/W2117933783","https://openalex.org/W2560479139"],"abstract_inverted_index":{"This":[0],"study":[1],"presents":[2],"a":[3,20,23,54,102,106,110],"robust":[4,55,103],"integral":[5],"of":[6,9,19,36,132],"the":[7,10,34,43,49,71,76,86,91,133,143,147],"sign":[8],"error":[11,29,88,121,152],"(RISE)-based":[12],"controller":[13,56,79,104,108,112,134,145],"for":[14,52],"an":[15,60],"aerial":[16],"manipulator":[17],"consisting":[18],"multi-rotor":[21],"and":[22,109,115],"robotic":[24],"arm":[25],"which":[26,53],"guarantees":[27],"tracking":[28],"convergence":[30,122],"to":[31,117],"zero":[32,95],"in":[33,90,137,151],"presence":[35],"uncertainties.":[37],"To":[38],"rigorously":[39],"address":[40],"underactuatedness":[41],"issue,":[42],"system":[44,74,98],"dynamics":[45],"is":[46,57,80,94,113,123,135],"decomposed":[47],"into":[48],"two":[50],"subsystems":[51],"derived.":[58],"As":[59],"intermediate":[61],"result,":[62],"if":[63],"there":[64],"exists":[65],"no":[66],"uncertainty,":[67],"we":[68],"show":[69],"that":[70,85],"nominal":[72,78,107],"closed-loop":[73],"with":[75,139],"proposed":[77,114,144],"asymptotically":[81],"stable":[82],"without":[83],"assuming":[84],"attitude":[87],"term":[89],"underactuated":[92],"part":[93],"by":[96],"cascaded":[97],"analysis":[99],"tool.":[100],"Then,":[101],"combining":[105],"RISE":[111],"applied":[116],"both":[118],"subsystems.":[119],"Tracking":[120],"strictly":[124],"proved":[125],"through":[126],"Lyapunov-based":[127],"stability":[128],"analysis.":[129],"The":[130],"performance":[131],"demonstrated":[136],"simulation":[138],"comparative":[140],"studies":[141],"where":[142],"outperforms":[146],"other":[148],"compared":[149],"controllers":[150],"convergence.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}