{"id":"https://openalex.org/W4390099797","doi":"https://doi.org/10.1109/robio58561.2023.10354923","title":"Design and implementation of Tree-cleaning Robot based on Wrench Observer-Auto Disturbance Rejection Control","display_name":"Design and implementation of Tree-cleaning Robot based on Wrench Observer-Auto Disturbance Rejection Control","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4390099797","doi":"https://doi.org/10.1109/robio58561.2023.10354923"},"language":"en","primary_location":{"id":"doi:10.1109/robio58561.2023.10354923","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio58561.2023.10354923","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5052074334","display_name":"Hao Xu","orcid":"https://orcid.org/0000-0002-1658-0068"},"institutions":[{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Xu","raw_affiliation_strings":["Anhui University of Technology,School of Microelectronics and Data Science,Ma’Anshan,China,243032"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Anhui University of Technology,School of Microelectronics and Data Science,Ma’Anshan,China,243032","institution_ids":["https://openalex.org/I92178344"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019271694","display_name":"Haoze Zhuo","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoze Zhuo","raw_affiliation_strings":["Nanjing University of Aeronautics and Astronautics,College of Automation Engineering,Nanjing,China,211106"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Aeronautics and Astronautics,College of Automation Engineering,Nanjing,China,211106","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001637611","display_name":"Zhong Yang","orcid":"https://orcid.org/0000-0002-0988-3757"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhong Yang","raw_affiliation_strings":["Nanjing University of Aeronautics and Astronautics,College of Automation Engineering,Nanjing,China,211106"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Aeronautics and Astronautics,College of Automation Engineering,Nanjing,China,211106","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028104073","display_name":"Changliang Xu","orcid":"https://orcid.org/0000-0002-8976-6832"},"institutions":[{"id":"https://openalex.org/I4210128418","display_name":"Nanjing Xiaozhuang University","ror":"https://ror.org/03fnv7n42","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210128418"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changliang Xu","raw_affiliation_strings":["Nanjing XiaoZhuang University,College of Electronic Engineering,Nanjing,China,211171"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing XiaoZhuang University,College of Electronic Engineering,Nanjing,China,211171","institution_ids":["https://openalex.org/I4210128418"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035316290","display_name":"Bayang Xue","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bayang Xue","raw_affiliation_strings":["Nanjing University of Aeronautics and Astronautics,College of Automation Engineering,Nanjing,China,211106"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Aeronautics and Astronautics,College of Automation Engineering,Nanjing,China,211106","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079651550","display_name":"Chenxiao Zhang","orcid":"https://orcid.org/0000-0002-9031-0533"},"institutions":[{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenxiao Zhang","raw_affiliation_strings":["Anhui University of Technology,School of Civil Engineering and Architecture,Ma’Anshan,China,243032"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Anhui University of Technology,School of Civil Engineering and Architecture,Ma’Anshan,China,243032","institution_ids":["https://openalex.org/I92178344"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9990000128746033,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9990000128746033,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9937000274658203,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9934999942779541,"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/wrench","display_name":"Wrench","score":0.836319088935852},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.6126052737236023},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5992820262908936},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5905799865722656},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4914015531539917},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.449786514043808},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4315037131309509},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4196094274520874},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41606405377388},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.4132021963596344},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4118272662162781},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.41001832485198975},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29773271083831787},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2882901728153229},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11801251769065857}],"concepts":[{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.836319088935852},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.6126052737236023},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5992820262908936},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5905799865722656},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4914015531539917},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.449786514043808},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4315037131309509},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4196094274520874},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41606405377388},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.4132021963596344},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4118272662162781},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.41001832485198975},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29773271083831787},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2882901728153229},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11801251769065857},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio58561.2023.10354923","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio58561.2023.10354923","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W2027333285","https://openalex.org/W2048253740","https://openalex.org/W2054639902","https://openalex.org/W2055315034","https://openalex.org/W2071119949","https://openalex.org/W2074192431","https://openalex.org/W2078390594","https://openalex.org/W2130545255","https://openalex.org/W2137983719","https://openalex.org/W2565660673","https://openalex.org/W2565939207","https://openalex.org/W2753030974","https://openalex.org/W2762764329","https://openalex.org/W2783840519","https://openalex.org/W2803183887","https://openalex.org/W2963870191","https://openalex.org/W3041067699","https://openalex.org/W3101738542","https://openalex.org/W4285102443"],"related_works":["https://openalex.org/W3114548899","https://openalex.org/W2067759762","https://openalex.org/W4205162136","https://openalex.org/W4245224694","https://openalex.org/W813487984","https://openalex.org/W1532677580","https://openalex.org/W1527727992","https://openalex.org/W2001900524","https://openalex.org/W2917916498","https://openalex.org/W1531114845"],"abstract_inverted_index":{"In":[0,37],"the":[1,17,21,27,59,63,66,78,83,93,101,104,113,122],"era":[2],"of":[3,23,42,62,70],"Industrial":[4],"4.0,":[5],"power":[6],"safety":[7],"is":[8,53,86,97,115],"essential":[9],"to":[10,49],"industrial":[11],"production.":[12],"The":[13,109],"trees":[14,52,73],"growing":[15],"around":[16],"transmission":[18],"network":[19],"threaten":[20],"security":[22],"electric":[24],"power,":[25],"while":[26],"traditional":[28],"cleaning":[29],"methods":[30],"are":[31,74],"inefficient":[32],"and":[33,55,65,92,117],"provide":[34],"poor":[35],"security.":[36],"this":[38,89],"paper,":[39],"a":[40],"kind":[41],"aerial":[43],"robot":[44,64],"that":[45],"can":[46,118],"be":[47],"used":[48],"clean":[50],"up":[51],"designed":[54,87],"implemented.":[56],"For":[57],"tree-cleaning,":[58],"dynamic":[60],"model":[61,69],"unified":[67],"mechanical":[68,90],"contact":[71],"with":[72,103],"established":[75],"based":[76],"on":[77],"extended":[79],"Lagrangian":[80],"method.":[81,108],"Then,":[82],"wrench":[84],"observer":[85,102],"through":[88],"model,":[91],"robot\u2019s":[94],"control":[95,107],"system":[96],"created":[98],"by":[99],"combining":[100],"auto-disturbance":[105],"rejection":[106],"experimental":[110],"results":[111],"show":[112],"method":[114],"feasible":[116],"efficiently":[119],"carry":[120],"out":[121],"tree-cleaning":[123],"operation.":[124]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}