{"id":"https://openalex.org/W4376851383","doi":"https://doi.org/10.1109/taes.2023.3276733","title":"Time-Optimal Path Tracking for Dual-Arm Free-Floating Space Manipulator System Using Convex Programming","display_name":"Time-Optimal Path Tracking for Dual-Arm Free-Floating Space Manipulator System Using Convex Programming","publication_year":2023,"publication_date":"2023-05-16","ids":{"openalex":"https://openalex.org/W4376851383","doi":"https://doi.org/10.1109/taes.2023.3276733"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2023.3276733","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2023.3276733","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Transactions on Aerospace and Electronic Systems","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/A5102788933","display_name":"Quan An","orcid":"https://orcid.org/0000-0001-8031-2327"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Quan An","raw_affiliation_strings":["School of Aerospace Engineering, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101876856","display_name":"Yao Zhang","orcid":"https://orcid.org/0000-0003-2323-6596"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yao Zhang","raw_affiliation_strings":["School of Aerospace Engineering, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089408812","display_name":"Quan Hu","orcid":"https://orcid.org/0000-0003-3328-7856"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Quan Hu","raw_affiliation_strings":["School of Aerospace Engineering, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075479856","display_name":"Mou Li","orcid":"https://orcid.org/0000-0002-7101-5942"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mou Li","raw_affiliation_strings":["Beijing Institute of Control Engineering, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Control Engineering, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081859599","display_name":"Jinjian Li","orcid":"https://orcid.org/0000-0003-1019-5270"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinjian Li","raw_affiliation_strings":["School of Aerospace Engineering, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068684623","display_name":"Anyuan Mao","orcid":"https://orcid.org/0000-0002-3499-9719"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Anyuan Mao","raw_affiliation_strings":["School of Aerospace Engineering, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5102788933"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":14.6198,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.98486614,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"59","issue":"5","first_page":"6670","last_page":"6682"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9995999932289124,"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":0.9995999932289124,"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/T11870","display_name":"Structural Analysis and Optimization","score":0.9740999937057495,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9534000158309937,"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":0.6189853549003601},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.5847806930541992},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.5407047867774963},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.47714492678642273},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.46964117884635925},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4679034650325775},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.44568195939064026},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.43450793623924255},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4222617447376251},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41414085030555725},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.40233296155929565},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.26438045501708984},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07228147983551025},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06908932328224182}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6189853549003601},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.5847806930541992},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.5407047867774963},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.47714492678642273},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.46964117884635925},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4679034650325775},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.44568195939064026},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.43450793623924255},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4222617447376251},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41414085030555725},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.40233296155929565},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.26438045501708984},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07228147983551025},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06908932328224182},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/taes.2023.3276733","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2023.3276733","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G318770082","display_name":null,"funder_award_id":"11972077","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3260508289","display_name":null,"funder_award_id":"11872011","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W296716232","https://openalex.org/W1967073510","https://openalex.org/W1970412155","https://openalex.org/W2003669963","https://openalex.org/W2005996430","https://openalex.org/W2023398310","https://openalex.org/W2025721810","https://openalex.org/W2026733661","https://openalex.org/W2028838947","https://openalex.org/W2043306880","https://openalex.org/W2099454002","https://openalex.org/W2115091574","https://openalex.org/W2525013897","https://openalex.org/W2530002552","https://openalex.org/W2744091781","https://openalex.org/W2748977773","https://openalex.org/W2754899349","https://openalex.org/W2784320602","https://openalex.org/W2962705926","https://openalex.org/W2964057747","https://openalex.org/W2985508173","https://openalex.org/W3101165498","https://openalex.org/W3114018165","https://openalex.org/W4210252053","https://openalex.org/W4220903039","https://openalex.org/W4241451105","https://openalex.org/W4245550013","https://openalex.org/W4294121158"],"related_works":["https://openalex.org/W2734993473","https://openalex.org/W4324118942","https://openalex.org/W2913057782","https://openalex.org/W2185064329","https://openalex.org/W2187229407","https://openalex.org/W3092201954","https://openalex.org/W3030201206","https://openalex.org/W2059909660","https://openalex.org/W2734242255","https://openalex.org/W2977264569"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"the":[3,8,36,44,66,75,81,94,99,102,105,109,126,129,143,149,152,155],"time-optimal":[4],"path-tracking":[5],"problem":[6,28,47,55,67,82],"of":[7,101,128,148,154],"dual-arm":[9],"free-floating":[10],"space":[11],"manipulator":[12],"(FFSM)":[13],"system":[14,31],"is":[15,48,120,134],"solved":[16],"by":[17,56],"using":[18,57,136],"convex":[19,52,86],"programming.":[20],"First,":[21],"we":[22,73],"construct":[23],"a":[24,51,69,84,116],"continuous":[25],"nonlinear":[26,62],"optimization":[27,46,87],"that":[29,93],"considers":[30],"dynamics":[32],"and":[33,41,61,79,145],"constraints":[34],"along":[35,104],"path,":[37],"including":[38],"torque,":[39],"velocity,":[40],"acceleration.":[42],"Subsequently,":[43],"original":[45],"transformed":[49],"into":[50,83],"optimal":[53],"control":[54],"scalar":[58],"path":[59],"coordinate":[60],"variables.":[63],"To":[64],"characterize":[65],"in":[68],"more":[70],"manageable":[71],"form,":[72],"apply":[74],"direct":[76],"transcription":[77],"method":[78],"discretize":[80],"sparse":[85],"program.":[88],"The":[89,139],"numerical":[90],"results":[91],"demonstrate":[92],"proposed":[95,156],"approach":[96],"efficiently":[97],"determines":[98],"trajectory":[100],"FFSM":[103],"preset":[106,146],"path.":[107],"Meanwhile,":[108],"base's":[110],"velocity":[111],"can":[112],"be":[113],"limited":[114],"to":[115],"small":[117],"region,":[118],"which":[119],"an":[121,132],"essential":[122],"requirement":[123],"for":[124],"ensuring":[125],"stability":[127],"satellite.":[130],"Furthermore,":[131],"experiment":[133],"conducted":[135],"GLUON":[137],"robots.":[138],"tracking":[140],"error":[141],"between":[142],"actual":[144],"pose":[147],"target":[150],"verifies":[151],"feasibility":[153],"method.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-09T08:58:05.943551","created_date":"2025-10-10T00:00:00"}
