{"id":"https://openalex.org/W4285277704","doi":"https://doi.org/10.1109/tase.2022.3176743","title":"Vision-Based Impedance Control of an Aerial Manipulator Using a Nonlinear Observer","display_name":"Vision-Based Impedance Control of an Aerial Manipulator Using a Nonlinear Observer","publication_year":2022,"publication_date":"2022-05-25","ids":{"openalex":"https://openalex.org/W4285277704","doi":"https://doi.org/10.1109/tase.2022.3176743"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2022.3176743","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2022.3176743","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","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/A5101873316","display_name":"An Hu","orcid":"https://orcid.org/0009-0001-8068-9535"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"An Hu","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084835357","display_name":"Mengxin Xu","orcid":"https://orcid.org/0000-0003-1308-5958"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengxin Xu","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-1308-5958","affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107772128","display_name":"Hesheng Wang","orcid":"https://orcid.org/0000-0002-9959-1634"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hesheng Wang","raw_affiliation_strings":["Department of Automation, Key Laboratory of System Control and Information Processing of Ministry of Education, Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education, Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-9959-1634","affiliations":[{"raw_affiliation_string":"Department of Automation, Key Laboratory of System Control and Information Processing of Ministry of Education, Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education, Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I1327237609","https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5104519664","display_name":"Herman Casta\u00f1eda","orcid":"https://orcid.org/0000-0002-2432-7740"},"institutions":[{"id":"https://openalex.org/I98461037","display_name":"Tecnol\u00f3gico de Monterrey","ror":"https://ror.org/03ayjn504","country_code":"MX","type":"education","lineage":["https://openalex.org/I98461037"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Herman Casta\u00f1eda","raw_affiliation_strings":["School of Sciences and Engineering, Tecnológico de Monterrey, Nuevo León, Monterrey, México"],"raw_orcid":"https://orcid.org/0000-0002-2432-7740","affiliations":[{"raw_affiliation_string":"School of Sciences and Engineering, Tecnológico de Monterrey, Nuevo León, Monterrey, México","institution_ids":["https://openalex.org/I98461037"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101873316"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":15.9355,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.98611298,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"20","issue":"2","first_page":"1441","last_page":"1451"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9973999857902527,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6420345306396484},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.6061571836471558},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6060463190078735},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5776919722557068},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5680624842643738},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5156230330467224},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5037297606468201},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41838034987449646},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.41521674394607544},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39572811126708984},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3810349106788635},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.28636080026626587},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16970020532608032}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6420345306396484},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.6061571836471558},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6060463190078735},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5776919722557068},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5680624842643738},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5156230330467224},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5037297606468201},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41838034987449646},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.41521674394607544},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39572811126708984},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3810349106788635},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28636080026626587},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16970020532608032},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2022.3176743","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2022.3176743","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1031521155","display_name":null,"funder_award_id":"U1913204","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4785738499","display_name":null,"funder_award_id":"62073222","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5163237521","display_name":null,"funder_award_id":"U21A20480","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7399542710","display_name":null,"funder_award_id":"21511101900","funder_id":"https://openalex.org/F4320321885","funder_display_name":"Science and Technology Commission of Shanghai Municipality"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321885","display_name":"Science and Technology Commission of Shanghai Municipality","ror":"https://ror.org/03kt66j61"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1960629836","https://openalex.org/W2021670390","https://openalex.org/W2032381729","https://openalex.org/W2058843767","https://openalex.org/W2128973673","https://openalex.org/W2155912251","https://openalex.org/W2161942079","https://openalex.org/W2342759786","https://openalex.org/W2517641405","https://openalex.org/W2530312297","https://openalex.org/W2595763608","https://openalex.org/W2743333470","https://openalex.org/W2755898301","https://openalex.org/W2789317214","https://openalex.org/W2909191761","https://openalex.org/W2969197212","https://openalex.org/W2971444598","https://openalex.org/W3002312256","https://openalex.org/W3034293205","https://openalex.org/W3112830500","https://openalex.org/W3114517548","https://openalex.org/W3129242985","https://openalex.org/W3165757908","https://openalex.org/W3167458237","https://openalex.org/W3174123873","https://openalex.org/W3183975796","https://openalex.org/W3204625264","https://openalex.org/W3206740165","https://openalex.org/W3212108214","https://openalex.org/W4226491373","https://openalex.org/W4226494925"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W1520171478","https://openalex.org/W2386520554","https://openalex.org/W3024380338","https://openalex.org/W4317830657","https://openalex.org/W2127866683","https://openalex.org/W2099513764","https://openalex.org/W2547642540"],"abstract_inverted_index":{"Contact-based":[0],"aerial":[1,25,105,180,198,241,256,290],"interaction":[2,112,237],"control":[3,21],"in":[4,36,292],"unknown":[5,185],"environments":[6,186],"is":[7,52,70,77,133,141,210,263],"a":[8,49,65,81,94,146,152,175,271],"challenging":[9],"issue.":[10],"To":[11],"solve":[12],"this":[13,15,37],"problem,":[14],"paper":[16,38],"presents":[17,174],"an":[18,24,73,179,286],"image-based":[19],"impedance":[20,75],"scheme":[22],"for":[23,177,228,289],"manipulator.":[26,106,199],"Unlike":[27],"points":[28],"and":[29,135,151,196,235,250,258],"image":[30,247],"moments,":[31],"the":[32,42,45,61,90,100,104,120,124,127,131,136,139,155,158,165,168,189,194,197,202,205,232,236,240,246,251,255,259,267],"line":[33,213],"features":[34],"considered":[35],"cannot":[39],"uniquely":[40],"determine":[41,99],"pose":[43,102],"of":[44,60,103,123,130,138,157,167,192,239,270,275],"onboard":[46],"camera.":[47],"Therefore,":[48],"nonlinear":[50],"observer":[51,132],"proposed":[53,206],"to":[54,79,98,163,171,182,230],"online":[55,264],"provide":[56],"supplementary":[57],"3D":[58],"information":[59],"system.":[62,125],"After":[63],"that,":[64],"hierarchical":[66],"tracking":[67,83],"controller,":[68],"which":[69,215],"equipped":[71],"with":[72,85,154,184],"image-space":[74],"filter,":[76],"designed":[78],"implement":[80],"trajectory":[82],"task":[84],"tunable":[86],"compliance,":[87],"while":[88],"at":[89],"same":[91],"time":[92],"achieving":[93],"subtask":[95],"that":[96],"aims":[97],"final":[101],"By":[107],"planning":[108,245],"task-space":[109],"trajectories,":[110],"desired":[111,252],"behavior":[113,238],"can":[114],"be":[115,226],"specified":[116],"without":[117,187],"relying":[118,276],"on":[119,212,277],"global":[121,190],"position":[122,191],"Furthermore,":[126,200],"effectiveness":[128],"criterion":[129],"derived,":[134],"stability":[137],"system":[140],"proven.":[142],"Several":[143],"experiments,":[144],"including":[145],"push-and-slide":[147],"task,":[148],"robustness":[149],"analysis,":[150],"comparison":[153],"state":[156],"art":[159],"have":[160],"been":[161],"conducted":[162],"demonstrate":[164],"feasibility":[166],"method.":[169],"Note":[170],"Practitioners\u2014This":[172],"article":[173],"method":[176,209],"controlling":[178],"manipulator":[181,242,257],"interact":[183],"measuring":[188],"both":[193],"environment":[195],"unlike":[201],"existing":[203],"methods,":[204],"visual":[207,268],"servoing":[208],"based":[211],"features,":[214],"are":[216],"generally":[217],"more":[218],"robust":[219],"than":[220],"point":[221],"features.":[222],"Moreover,":[223],"it":[224,285],"would":[225],"intuitive":[227],"users":[229],"specify":[231],"approaching":[233],"path":[234],"by":[243],"just":[244],"feature":[248],"trajectories":[249],"distance":[253,262],"between":[254],"environment.":[260],"This":[261],"estimated":[265],"using":[266],"feedback":[269],"monocular":[272],"camera,":[273],"instead":[274],"any":[278],"costly":[279],"3D-vision":[280],"sensors":[281],"or":[282],"lidars,":[283],"making":[284],"economical":[287],"solution":[288],"manipulation":[291],"field":[293],"environments.":[294]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":6}],"updated_date":"2026-04-27T08:22:11.395708","created_date":"2025-10-10T00:00:00"}