{"id":"https://openalex.org/W4390204377","doi":"https://doi.org/10.1109/taes.2023.3346808","title":"Human-Assisted Regulation of the Deployment of a Tethered Space Robot via Feasibility Condition Optimization and Fast Logarithmic Sliding Mode","display_name":"Human-Assisted Regulation of the Deployment of a Tethered Space Robot via Feasibility Condition Optimization and Fast Logarithmic Sliding Mode","publication_year":2023,"publication_date":"2023-12-25","ids":{"openalex":"https://openalex.org/W4390204377","doi":"https://doi.org/10.1109/taes.2023.3346808"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2023.3346808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2023.3346808","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/A5028318732","display_name":"Zhiqiang Ma","orcid":"https://orcid.org/0000-0002-6791-1162"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Ma","raw_affiliation_strings":["Research Center for Intelligent Robotics and the National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi&#x0027;an, China"],"raw_orcid":"https://orcid.org/0000-0002-6791-1162","affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics and the National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054823745","display_name":"Xiaolong Duan","orcid":"https://orcid.org/0009-0000-9015-8650"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolong Duan","raw_affiliation_strings":["Research Center for Intelligent Robotics and the National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi&#x0027;an, China"],"raw_orcid":"https://orcid.org/0009-0000-9015-8650","affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics and the National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059970082","display_name":"Xiyao Liu","orcid":"https://orcid.org/0000-0003-3140-2996"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiyao Liu","raw_affiliation_strings":["Research Center for Intelligent Robotics and the National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi&#x0027;an, China"],"raw_orcid":"https://orcid.org/0000-0003-3140-2996","affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics and the National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046934338","display_name":"Yizhai Zhang","orcid":"https://orcid.org/0000-0001-9022-6369"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yizhai Zhang","raw_affiliation_strings":["Research Center for Intelligent Robotics and the National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi&#x0027;an, China"],"raw_orcid":"https://orcid.org/0000-0001-9022-6369","affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics and the National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091127758","display_name":"Panfeng Huang","orcid":"https://orcid.org/0000-0002-5132-9602"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Panfeng Huang","raw_affiliation_strings":["Research Center for Intelligent Robotics and the National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi&#x0027;an, China"],"raw_orcid":"https://orcid.org/0000-0002-5132-9602","affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics and the National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":17.4768,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.98885785,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"60","issue":"2","first_page":"2001","last_page":"2015"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10868","display_name":"Soft Robotics and Applications","score":0.9894000291824341,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.7485960721969604},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7163331508636475},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5015714168548584},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.49967074394226074},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.44721508026123047},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4322473406791687},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42228639125823975},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3118610084056854},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15166252851486206},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.14478889107704163},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10197970271110535}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7485960721969604},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7163331508636475},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5015714168548584},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.49967074394226074},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.44721508026123047},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4322473406791687},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42228639125823975},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3118610084056854},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15166252851486206},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.14478889107704163},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10197970271110535},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/taes.2023.3346808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2023.3346808","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/G5140357975","display_name":null,"funder_award_id":"62103333","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1977280078","https://openalex.org/W1984420709","https://openalex.org/W1988367613","https://openalex.org/W2122850819","https://openalex.org/W2210746454","https://openalex.org/W2253274025","https://openalex.org/W2344528945","https://openalex.org/W2474007483","https://openalex.org/W2607498875","https://openalex.org/W2782640720","https://openalex.org/W2888997602","https://openalex.org/W2898781019","https://openalex.org/W2913639712","https://openalex.org/W2919663910","https://openalex.org/W2944896470","https://openalex.org/W2963869361","https://openalex.org/W2975408797","https://openalex.org/W2979858421","https://openalex.org/W2989878089","https://openalex.org/W2997683045","https://openalex.org/W3005411308","https://openalex.org/W3035356441","https://openalex.org/W3040400506","https://openalex.org/W3041688022","https://openalex.org/W3044544583","https://openalex.org/W3109610025","https://openalex.org/W3137783376","https://openalex.org/W3141101759","https://openalex.org/W3160173994","https://openalex.org/W3162094662","https://openalex.org/W3200270133","https://openalex.org/W3201890070","https://openalex.org/W3212276600","https://openalex.org/W4210465166","https://openalex.org/W4210794442","https://openalex.org/W4225727437","https://openalex.org/W4226397702","https://openalex.org/W4285244721","https://openalex.org/W4321609135"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W2770234245","https://openalex.org/W4285553839","https://openalex.org/W96612179","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955"],"abstract_inverted_index":{"The":[0,48,141,166],"feasibility":[1,25,49,85,132],"analysis":[2,30],"and":[3,28,35,64,74,176],"performance":[4],"optimization":[5,27,80],"are":[6,67],"great":[7],"challenges":[8],"of":[9,13,31,107,131,137,159,168],"the":[10,24,32,43,61,70,84,102,105,118,124,129,151,156,169],"underactuated":[11,33],"deployment":[12,65],"a":[14,37,55,77,87,112,135],"tethered":[15],"space":[16],"robot.":[17],"This":[18],"article":[19,110],"presents":[20],"an":[21],"investigation":[22],"into":[23,69],"condition":[26,50,133],"stability":[29,72],"deployment,":[34],"proposes":[36,111],"feasibility-judgment-based":[38],"human-assisted":[39,125],"regulation":[40,126],"scheme":[41,90,171],"via":[42,134],"fast":[44,142],"logarithmic":[45,143],"sliding":[46,57,144],"mode.":[47],"is":[51,91,115,147,161,172],"generated":[52],"by":[53,76,163],"synthesizing":[54],"hierarchical":[56],"manifold,":[58],"on":[59,83],"which":[60,114,160],"in-plane":[62],"angle":[63],"length":[66],"synchronous,":[68],"Lyapunov":[71],"criterion,":[73],"optimized":[75],"moving":[78],"horizon":[79],"algorithm.":[81],"Based":[82],"condition,":[86],"tension":[88,98],"control":[89,146],"proposed":[92,148,170],"to":[93,122,127,149],"ensure":[94],"that":[95],"no":[96],"saturated":[97],"commands":[99],"appear":[100],"during":[101],"deployment.":[103],"For":[104],"convenience":[106],"supervision,":[108],"this":[109],"mechanism,":[113],"derived":[116],"from":[117],"desired":[119],"admittance":[120],"structure,":[121],"allow":[123],"adjust":[128],"parameters":[130],"type":[136],"physical":[138,153],"human\u2013robot":[139,154],"interaction.":[140],"mode":[145],"stabilize":[150],"human-centric":[152],"interaction,":[155],"operation":[157],"behavior":[158],"estimated":[162],"neural":[164],"network.":[165],"effectiveness":[167],"verified":[173],"through":[174],"simulations":[175],"experiments.":[177]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":13}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
