{"id":"https://openalex.org/W4392739027","doi":"https://doi.org/10.1109/tase.2024.3373107","title":"Observer-Based Nonlinear Control for Dual-Arm Aerial Manipulator Systems Suffering From Uncertain Center of Mass","display_name":"Observer-Based Nonlinear Control for Dual-Arm Aerial Manipulator Systems Suffering From Uncertain Center of Mass","publication_year":2024,"publication_date":"2024-03-13","ids":{"openalex":"https://openalex.org/W4392739027","doi":"https://doi.org/10.1109/tase.2024.3373107"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2024.3373107","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3373107","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/A5101575076","display_name":"Xiao Liang","orcid":"https://orcid.org/0000-0002-7311-8005"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiao Liang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Tianjin Key Lab of Intelligent Robotics, and the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Nankai University, Tianjin, China","College of Artificial Intelligence, the Tianjin Key Lab of Intelligent Robotics, and the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Tianjin Key Lab of Intelligent Robotics, and the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"College of Artificial Intelligence, the Tianjin Key Lab of Intelligent Robotics, and the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102796607","display_name":"Yang Wang","orcid":"https://orcid.org/0000-0002-2317-8210"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Wang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Tianjin Key Lab of Intelligent Robotics, and the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Nankai University, Tianjin, China","College of Artificial Intelligence, the Tianjin Key Lab of Intelligent Robotics, and the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Tianjin Key Lab of Intelligent Robotics, and the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"College of Artificial Intelligence, the Tianjin Key Lab of Intelligent Robotics, and the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055961885","display_name":"Hai Yu","orcid":"https://orcid.org/0000-0002-9772-7091"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hai Yu","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Tianjin Key Lab of Intelligent Robotics, and the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Nankai University, Tianjin, China","College of Artificial Intelligence, the Tianjin Key Lab of Intelligent Robotics, and the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Tianjin Key Lab of Intelligent Robotics, and the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"College of Artificial Intelligence, the Tianjin Key Lab of Intelligent Robotics, and the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053980816","display_name":"Zhaopeng Zhang","orcid":"https://orcid.org/0000-0002-3837-9138"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaopeng Zhang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Tianjin Key Lab of Intelligent Robotics, and the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Nankai University, Tianjin, China","College of Artificial Intelligence, the Tianjin Key Lab of Intelligent Robotics, and the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Tianjin Key Lab of Intelligent Robotics, and the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"College of Artificial Intelligence, the Tianjin Key Lab of Intelligent Robotics, and the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100439073","display_name":"Jianda Han","orcid":"https://orcid.org/0000-0002-9664-4534"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianda Han","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Tianjin Key Lab of Intelligent Robotics, and the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Nankai University, Tianjin, China","College of Artificial Intelligence, the Tianjin Key Lab of Intelligent Robotics, and the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Tianjin Key Lab of Intelligent Robotics, and the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"College of Artificial Intelligence, the Tianjin Key Lab of Intelligent Robotics, and the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058644546","display_name":"Yongchun Fang","orcid":"https://orcid.org/0000-0002-3061-2708"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongchun Fang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Tianjin Key Lab of Intelligent Robotics, and the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Nankai University, Tianjin, China","College of Artificial Intelligence, the Tianjin Key Lab of Intelligent Robotics, and the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Tianjin Key Lab of Intelligent Robotics, and the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"College of Artificial Intelligence, the Tianjin Key Lab of Intelligent Robotics, and the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101575076"],"corresponding_institution_ids":["https://openalex.org/I205237279"],"apc_list":null,"apc_paid":null,"fwci":3.4676,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.92511652,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"22","issue":null,"first_page":"1984","last_page":"1995"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9801999926567078,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9801999926567078,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9747999906539917,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9739000201225281,"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":0.7592194676399231},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6475973725318909},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.6021920442581177},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5987251400947571},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5897574424743652},{"id":"https://openalex.org/keywords/center-of-mass","display_name":"Center of mass (relativistic)","score":0.4996676445007324},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4535457193851471},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4422464370727539},{"id":"https://openalex.org/keywords/center","display_name":"Center (category theory)","score":0.42994025349617004},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4066254198551178},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4056437015533447},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36489027738571167},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.3519437909126282},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16145110130310059},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14275985956192017}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7592194676399231},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6475973725318909},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.6021920442581177},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5987251400947571},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5897574424743652},{"id":"https://openalex.org/C36185635","wikidata":"https://www.wikidata.org/wiki/Q17006925","display_name":"Center of mass (relativistic)","level":3,"score":0.4996676445007324},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4535457193851471},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4422464370727539},{"id":"https://openalex.org/C2779463800","wikidata":"https://www.wikidata.org/wiki/Q5062222","display_name":"Center (category theory)","level":2,"score":0.42994025349617004},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4066254198551178},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4056437015533447},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36489027738571167},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3519437909126282},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16145110130310059},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14275985956192017},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C47513753","wikidata":"https://www.wikidata.org/wiki/Q3502299","display_name":"Energy\u2013momentum relation","level":2,"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/C8010536","wikidata":"https://www.wikidata.org/wiki/Q160398","display_name":"Crystallography","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},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2024.3373107","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3373107","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/G2303075371","display_name":null,"funder_award_id":"62233011","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3017679674","display_name":null,"funder_award_id":"TJSQNTJ-2020-21","funder_id":"https://openalex.org/F4320330170","funder_display_name":"Young Elite Scientists Sponsorship Program by Tianjin"},{"id":"https://openalex.org/G7051720999","display_name":null,"funder_award_id":"62273187","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"},{"id":"https://openalex.org/F4320330170","display_name":"Young Elite Scientists Sponsorship Program by Tianjin","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1530919911","https://openalex.org/W1767829066","https://openalex.org/W1964573745","https://openalex.org/W1999941908","https://openalex.org/W2008364784","https://openalex.org/W2037011962","https://openalex.org/W2085828139","https://openalex.org/W2130545255","https://openalex.org/W2147168033","https://openalex.org/W2225490378","https://openalex.org/W2565660673","https://openalex.org/W2762617338","https://openalex.org/W2762764329","https://openalex.org/W2788319054","https://openalex.org/W2789317214","https://openalex.org/W2792083172","https://openalex.org/W2794308024","https://openalex.org/W2808059422","https://openalex.org/W2836377052","https://openalex.org/W2889829150","https://openalex.org/W2920945592","https://openalex.org/W2944985312","https://openalex.org/W2971027765","https://openalex.org/W2994412884","https://openalex.org/W3091895365","https://openalex.org/W3114517548","https://openalex.org/W3125416317","https://openalex.org/W4200524370","https://openalex.org/W4205397875","https://openalex.org/W4223486189","https://openalex.org/W4229076292","https://openalex.org/W4285258898","https://openalex.org/W4285277704","https://openalex.org/W4288047736","https://openalex.org/W4288391406","https://openalex.org/W4312593753","https://openalex.org/W4318454202","https://openalex.org/W4381929781","https://openalex.org/W4383108572"],"related_works":["https://openalex.org/W3192036299","https://openalex.org/W4385452609","https://openalex.org/W2383017781","https://openalex.org/W2146428417","https://openalex.org/W3176458675","https://openalex.org/W4313255720","https://openalex.org/W2317351040","https://openalex.org/W2658949566","https://openalex.org/W848152769","https://openalex.org/W2125082648"],"abstract_inverted_index":{"The":[0],"unmanned":[1,433],"aerial":[2,61,76,193,417,434,460,484],"manipulator":[3,53,62,81,150,194,435,461,476],"system":[4,107,138,436,448,562],"has":[5],"shown":[6],"great":[7],"application":[8,58],"potential":[9],"in":[10,22,260,287,419,482],"rotor":[11],"blade":[12],"repairing,":[13],"bridge":[14],"inspection,":[15],"and":[16,30,44,51,78,92,133,162,203,218,263,311,349,384,413,429,467,474,544],"goods":[17],"delivery.":[18],"Allowing":[19],"additional":[20],"alternatives":[21],"tasks,":[23],"dual-arm":[24,60,80,127,192,424,459,495],"always":[25],"provides":[26],"more":[27,84,340],"flexibility,":[28,427],"versatility,":[29,428],"manipulability":[31,430],"compared":[32,235,266],"to":[33,236,267,305,313,321,345,351,380,392,397,508],"a":[34,121,212,299,386,493],"single":[35],"arm.":[36],"Unfortunately,":[37],"the":[38,49,52,56,68,72,79,87,90,95,100,106,110,113,131,137,145,149,153,159,173,187,201,206,219,226,231,237,241,245,253,257,268,276,281,284,308,316,322,331,335,354,359,368,372,404,423,426,432,441,447,454,458,464,472,475,511,518,527,530,542,547,557,561],"inherent":[39],"defects":[40],"of":[41,59,89,103,105,112,136,148,205,215,221,283,390,406,431,444,446,457,514,529,537,546,560],"unignorable":[42],"nonlinearities":[43],"complex":[45,468],"dynamic":[46,69,134],"coupling":[47,70,469],"between":[48,71,471],"multirotor":[50,73,154,473,519],"have":[54],"limited":[55],"practical":[57,483],"systems.":[63],"It":[64],"is":[65,82,139,156,170,250,338,401,437,533],"noteworthy":[66],"that":[67,172,225,252],"UAV":[74,155],"(unmanned":[75],"vehicle)":[77],"much":[83],"complicated":[85],"than":[86,275],"case":[88],"single-arm,":[91],"may":[93,451],"degrade":[94],"control":[96,123,273,455,499,549],"performance":[97],"significantly":[98],"as":[99,181,244,410],"CoM":[101],"(center":[102],"mass)":[104],"changes":[108],"with":[109,196,385,510],"movement":[111,128,496],"manipulator.":[114],"To":[115,487],"this":[116,118,184,488,490],"end,":[117,489],"paper":[119,185,400,491],"presents":[120,186],"novel":[122,494],"method":[124,208,228,243,255,286,337,374],"based":[125,142,498],"on":[126,143,152,517],"compensation.":[129],"Specifically,":[130],"kinematic":[132],"model":[135],"first":[140,188],"established,":[141],"which":[144],"force":[146],"effect":[147],"exerting":[151,516],"estimated":[157],"by":[158,371,403,501,520,563],"disturbance":[160,506,515],"observer":[161,507],"then":[163],"compensated.":[164],"By":[165,421],"using":[166],"Lyapunov":[167],"techniques,":[168],"it":[169,249],"proven":[171],"error":[174,233,332,369,388,531],"signal":[175,532],"can":[176,229,297],"converge":[177],"asymptotically.":[178],"As":[179,357],"far":[180],"we":[182,554],"know,":[183],"controller":[189],"design":[190],"for":[191,247,307,315,334,353,358,416],"systems":[195],"rigorous":[197,524],"stability":[198],"analysis.":[199],"Finally,":[200],"effectiveness":[202,543],"robustness":[204,545],"proposed":[207,227,254,285,336,373],"are":[209],"verified":[210],"through":[211],"significant":[213],"number":[214],"comparison":[216,238,278],"experiments,":[217],"results":[220],"these":[222],"experiments":[223,539],"demonstrate":[224],"reduce":[230],"positioning":[232],"obviously":[234],"methods.":[239,279],"Taking":[240],"PID":[242],"benchmark":[246],"comparison,":[248],"obvious":[251],"exhibits":[256],"greatest":[258],"reduction":[259,301,333,370,389],"both":[261],"maximum":[262,309],"average":[264],"errors":[265],"baseline":[269],"method,":[270],"indicating":[271],"superior":[272],"precision":[274],"other":[277],"For":[280],"result":[282],"<inline-formula":[288,323,360],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[289,324,361,395],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[290,325,362],"<tex-math":[291,326,363],"notation=\"LaTeX\">$\\bm":[292,327,364],"x$</tex-math>":[293],"</inline-formula>":[294,329,366],"-direction,":[295,330,367],"one":[296],"find":[298],"substantial":[300],"ranging":[302,342,377],"from":[303,343,378],"16.69%":[304],"38.57%":[306],"error,":[310],"22.24%":[312],"45.66%":[314],"mean":[317,355,387],"error.":[318,356],"Shifting":[319],"focus":[320],"y$</tex-math>":[328],"even":[339],"remarkable,":[341],"68.10%":[344],"81.80%":[346],"at":[347,382],"maximum,":[348,383],"66.31%":[350],"86.33%":[352],"z$</tex-math>":[365],"remained":[375],"significant,":[376],"50.67%":[379],"86.38%":[381],"33.11%":[391],"80.39%.":[393],"<italic":[394],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[396],"Practitioners</i>":[398],"\u2014This":[399],"motivated":[402],"problem":[405],"executing":[407],"such":[408],"tasks":[409],"load":[411],"transportation":[412],"coordinate":[414],"manipulation":[415,485],"robots":[418],"flight.":[420],"integrating":[422,564],"manipulator,":[425],"further":[438,540],"extended.":[439],"However,":[440],"uncertain":[442],"center":[443],"mass":[445],"during":[449],"operation":[450],"badly":[452],"increase":[453],"difficulty":[456],"system.":[462],"Moreover,":[463],"strong":[465],"nonlinearity":[466],"existing":[470],"also":[477],"induce":[478],"urgently":[479],"solved":[480],"problems":[481],"tasks.":[486],"proposes":[492],"compensation":[497],"scheme":[500],"utilizing":[502],"an":[503],"elaborately":[504],"designed":[505],"deal":[509],"unestimated":[512],"part":[513],"arm":[521],"operation.":[522],"With":[523],"theoretical":[525],"analysis,":[526],"convergence":[528],"proven.":[534],"Additionally,":[535],"groups":[536],"hardware":[538],"verify":[541],"suggested":[548],"method.":[550],"In":[551],"future":[552],"studies,":[553],"will":[555],"improve":[556],"autonomy":[558],"level":[559],"onboard":[565],"sensors.":[566]},"counts_by_year":[{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-01T08:55:55.761014","created_date":"2025-10-10T00:00:00"}