{"id":"https://openalex.org/W4384788079","doi":"https://doi.org/10.1109/tase.2023.3294254","title":"Hybrid Force/Position Control for Switchable Unmanned Aerial Manipulator Between Free Flight and Contact Operation","display_name":"Hybrid Force/Position Control for Switchable Unmanned Aerial Manipulator Between Free Flight and Contact Operation","publication_year":2023,"publication_date":"2023-07-18","ids":{"openalex":"https://openalex.org/W4384788079","doi":"https://doi.org/10.1109/tase.2023.3294254"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2023.3294254","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3294254","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/A5054871572","display_name":"Zhenguo Zhang","orcid":"https://orcid.org/0000-0002-0059-1766"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenguo Zhang","raw_affiliation_strings":["College of Electrical and Information Engineering and the National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering and the National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053348275","display_name":"Yanjie Chen","orcid":"https://orcid.org/0000-0001-9750-9177"},"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/I16038530","display_name":"Aberystwyth University","ror":"https://ror.org/015m2p889","country_code":"GB","type":"education","lineage":["https://openalex.org/I16038530"]},{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]},{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Yanjie Chen","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China","Department of Computer Science, Aberystwyth University, Aberystwyth, U.K","National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, Changsha, China","Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-9750-9177","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]},{"raw_affiliation_string":"Department of Computer Science, Aberystwyth University, Aberystwyth, U.K","institution_ids":["https://openalex.org/I16038530"]},{"raw_affiliation_string":"National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]},{"raw_affiliation_string":"Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012239718","display_name":"Yangning Wu","orcid":"https://orcid.org/0000-0002-8970-9993"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yangning Wu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045379870","display_name":"Bingwei He","orcid":"https://orcid.org/0000-0002-4386-8542"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bingwei He","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-4386-8542","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013336609","display_name":"Zhiqiang Miao","orcid":"https://orcid.org/0000-0002-0899-1537"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Miao","raw_affiliation_strings":["College of Electrical and Information Engineering and the National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-0899-1537","affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering and the National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100323420","display_name":"Hui Zhang","orcid":"https://orcid.org/0000-0002-1803-3148"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Zhang","raw_affiliation_strings":["National Engineering Research Center of Robot Visual Perception and Control Technology and the School of Robotics, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-1803-3148","affiliations":[{"raw_affiliation_string":"National Engineering Research Center of Robot Visual Perception and Control Technology and the School of Robotics, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025640070","display_name":"Yaonan Wang","orcid":"https://orcid.org/0000-0002-0519-6458"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaonan Wang","raw_affiliation_strings":["College of Electrical and Information Engineering and the National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-0519-6458","affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering and the National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5954,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.85664293,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"21","issue":"3","first_page":"4283","last_page":"4297"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9990000128746033,"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/T10191","display_name":"Robotics and Sensor-Based Localization","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":0.7863056659698486},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6335076689720154},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5349641442298889},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5255799889564514},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.48367390036582947},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4753560721874237},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45875075459480286},{"id":"https://openalex.org/keywords/position-sensor","display_name":"Position sensor","score":0.45275425910949707},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.45211800932884216},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4489143490791321},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4373451769351959},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.42544087767601013},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.42314422130584717},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4222317337989807},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38332563638687134},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27347567677497864},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19208931922912598},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1217690110206604},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10390171408653259},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10263103246688843}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7863056659698486},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6335076689720154},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5349641442298889},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5255799889564514},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.48367390036582947},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4753560721874237},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45875075459480286},{"id":"https://openalex.org/C29258643","wikidata":"https://www.wikidata.org/wiki/Q2937669","display_name":"Position sensor","level":3,"score":0.45275425910949707},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.45211800932884216},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4489143490791321},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4373451769351959},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.42544087767601013},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.42314422130584717},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4222317337989807},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38332563638687134},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27347567677497864},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19208931922912598},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1217690110206604},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10390171408653259},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10263103246688843},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2023.3294254","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3294254","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":[],"awards":[{"id":"https://openalex.org/G1772707023","display_name":null,"funder_award_id":"62273098","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2563698302","display_name":null,"funder_award_id":"2021ZD0114503","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G4263815648","display_name":null,"funder_award_id":"NIF\\R1\\221089","funder_id":"https://openalex.org/F4320320006","funder_display_name":"Royal Society"},{"id":"https://openalex.org/G4266947506","display_name":null,"funder_award_id":"62273138","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5430642418","display_name":null,"funder_award_id":"2022YFB3903804","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G6432497039","display_name":null,"funder_award_id":"62293515","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7185484708","display_name":null,"funder_award_id":"62027810","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7440800273","display_name":null,"funder_award_id":"62293513","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7745736485","display_name":null,"funder_award_id":"61971071","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8190209641","display_name":null,"funder_award_id":"62133005","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320320006","display_name":"Royal Society","ror":"https://ror.org/03wnrjx87"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1525021737","https://openalex.org/W1557353344","https://openalex.org/W1996578343","https://openalex.org/W1999941908","https://openalex.org/W2019400639","https://openalex.org/W2020903506","https://openalex.org/W2085828139","https://openalex.org/W2088195248","https://openalex.org/W2088606702","https://openalex.org/W2089801374","https://openalex.org/W2129544220","https://openalex.org/W2131292439","https://openalex.org/W2169409546","https://openalex.org/W2191193810","https://openalex.org/W2215973529","https://openalex.org/W2345118037","https://openalex.org/W2477934502","https://openalex.org/W2530312297","https://openalex.org/W2559545303","https://openalex.org/W2566838322","https://openalex.org/W2591891636","https://openalex.org/W2606697096","https://openalex.org/W2739355872","https://openalex.org/W2787271845","https://openalex.org/W2789696912","https://openalex.org/W2797532409","https://openalex.org/W2890016919","https://openalex.org/W2904009101","https://openalex.org/W2954055669","https://openalex.org/W2962804513","https://openalex.org/W2963838995","https://openalex.org/W2994412884","https://openalex.org/W2994887143","https://openalex.org/W3003744633","https://openalex.org/W3135125952","https://openalex.org/W3188951537","https://openalex.org/W3206740165","https://openalex.org/W3207925858","https://openalex.org/W3215125301","https://openalex.org/W4205879794","https://openalex.org/W4226494925","https://openalex.org/W4285258898","https://openalex.org/W4285277704","https://openalex.org/W4288391406","https://openalex.org/W4295046735","https://openalex.org/W4308475484","https://openalex.org/W6750422873"],"related_works":["https://openalex.org/W2786196354","https://openalex.org/W4399374581","https://openalex.org/W1934622834","https://openalex.org/W2015036175","https://openalex.org/W2071387541","https://openalex.org/W1983135609","https://openalex.org/W2789837488","https://openalex.org/W4229014760","https://openalex.org/W2786003999","https://openalex.org/W4378965995"],"abstract_inverted_index":{"The":[0,246,334,358,377],"refined":[1],"aerial":[2,7,403],"operations":[3,20,41],"of":[4,51,64,164,179,188,214,275,283,327],"the":[5,15,46,62,74,91,99,105,110,119,124,146,152,157,162,165,171,177,180,184,189,210,238,241,250,262,272,276,280,291,299,303,307,311,323,328,331,338,350,355,382,391],"unmanned":[6],"manipulator":[8,133],"(UAM)":[9],"have":[10],"been":[11,227],"extensively":[12],"studied":[13],"for":[14,39,73,85,145,151,298,318,365],"last":[16],"decades.":[17],"Usually,":[18],"UAM":[19,52,75,87,216],"are":[21,192],"accompanied":[22],"by":[23,209,302,337,348],"several":[24],"phases,":[25],"such":[26],"as":[27],"free":[28,68,106,255,263,341],"flight,":[29],"contact":[30,48,71,120,134,158,195,211,251,258,308,344,375],"operations,":[31],"and":[32,45,70,109,186,198,240,257,290,325,368,373,388,394],"separation.":[33],"A":[34],"great":[35],"challenge":[36],"is":[37,83,102,116,128,143,168,207,235,267,294,316,346,361,369],"proposed":[38,84,144,190,247,359,383],"switching":[40,166,181],"in":[42,61,104,118,230,243],"different":[43],"environments":[44],"high-precision":[47],"force":[49,113,135,212,218,233,313,319],"requirements":[50],"control,":[53],"so":[54],"this":[55],"paper":[56],"conducts":[57],"control":[58,81,95,114,141,225,314],"stability":[59,163,178,387],"research":[60],"case":[63],"dynamic":[65],"differences":[66],"between":[67],"flight":[69,107,256,264,342],"operation":[72,121,159,196,252,259,309,345],"system.":[76],"First,":[77],"a":[78,138,362],"hybrid":[79,223],"force/position":[80,224],"strategy":[82,142],"switchable":[86],"system,":[88],"among":[89],"them,":[90],"adaptive":[92,111,125,140],"sliding":[93],"mode":[94],"method":[96,115,127,248,315,360,384],"based":[97],"on":[98],"interference":[100],"observer":[101,293],"utilized":[103],"phase,":[108,122],"impedance":[112,312],"employed":[117],"where":[123],"estimation":[126],"designed":[129],"to":[130,149,175,203,270,296,343,398],"perform":[131],"on-board":[132],"estimation.":[136],"Then":[137],"robust":[139],"attitude":[147],"loop":[148],"compensate":[150,297],"torque":[153],"disturbance":[154,282,292,300],"generated":[155],"during":[156],"phase.":[160],"Meanwhile,":[161],"system":[167],"analyzed":[169],"through":[170,194],"continuous":[172],"Lyapunov":[173,356],"function":[174],"prove":[176],"process.":[182],"Finally,":[183],"effectiveness":[185],"superiority":[187],"schemes":[191],"verified":[193],"simulations":[197],"experiments.":[199,376],"<italic":[200],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[201],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[202],"Practitioners</i>":[204],"\u2014This":[205],"work":[206],"motivated":[208],"tracking":[213],"an":[215],"without":[217],"sensor.":[219],"In":[220,261,306],"recent":[221],"years,":[222],"has":[226,385],"widely":[228],"used":[229,317],"UAM.":[231],"However,":[232],"measurement":[234],"required":[236],"at":[237],"end-effector":[239],"object":[242],"most":[244],"studies.":[245],"divides":[249],"process":[253],"into":[254],"stages.":[260],"stage,":[265,310],"it":[266],"not":[268],"necessary":[269],"know":[271],"prior":[273],"information":[274],"environment":[277],"accurately":[278],"(i.e.":[279],"external":[281,304],"slowly":[284],"varying":[285],"or":[286],"known":[287],"upper":[288],"bound),":[289],"adopted":[295],"caused":[301,336],"environment.":[305],"tracking,":[320],"which":[321],"reduces":[322],"complexity":[324],"quality":[326],"end-effector.":[329],"At":[330],"same":[332],"time,":[333],"shock":[335],"switch":[339],"from":[340],"reduced":[347],"calculating":[349],"appropriate":[351],"controller":[352],"parameters":[353],"using":[354],"function.":[357],"promising":[363],"solution":[364],"real":[366],"applications":[367],"validated":[370],"via":[371],"simulation":[372],"indoor":[374],"experimental":[378],"results":[379],"show":[380],"that":[381],"better":[386],"accuracy":[389],"than":[390],"existing":[392],"methods,":[393],"can":[395],"be":[396],"extended":[397],"industrial":[399],"inspection,":[400],"component":[401],"processing,":[402],"operation,":[404],"etc.":[405]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}