{"id":"https://openalex.org/W4399311031","doi":"https://doi.org/10.1109/tase.2024.3406754","title":"Precise End-Effector Control for an Aerial Manipulator Under Composite Disturbances: Theory and Experiments","display_name":"Precise End-Effector Control for an Aerial Manipulator Under Composite Disturbances: Theory and Experiments","publication_year":2024,"publication_date":"2024-06-03","ids":{"openalex":"https://openalex.org/W4399311031","doi":"https://doi.org/10.1109/tase.2024.3406754"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2024.3406754","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3406754","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/A5001136259","display_name":"Meng Wang","orcid":"https://orcid.org/0000-0002-3573-2514"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Meng Wang","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075248381","display_name":"Shangke Lyu","orcid":"https://orcid.org/0000-0002-8302-6630"},"institutions":[{"id":"https://openalex.org/I3133055985","display_name":"Westlake University","ror":"https://ror.org/05hfa4n20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3133055985"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shangke Lyu","raw_affiliation_strings":["Machine Intelligence Lab (MiLAB), School of Engineering, Westlake University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Machine Intelligence Lab (MiLAB), School of Engineering, Westlake University, Hangzhou, China","institution_ids":["https://openalex.org/I3133055985"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001322804","display_name":"Qianyuan Liu","orcid":"https://orcid.org/0000-0002-4837-0524"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qianyuan Liu","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001138197","display_name":"Ziqi Yang","orcid":"https://orcid.org/0000-0001-8921-6470"},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ziqi Yang","raw_affiliation_strings":["Department of Systems Engineering, Boston University Robotics Lab, Brookline, MA, USA","College of Engineering, Boston University, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering, Boston University Robotics Lab, Brookline, MA, USA","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I111088046"]},{"raw_affiliation_string":"College of Engineering, Boston University, Boston, MA, USA","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107954417","display_name":"Kexin Guo","orcid":"https://orcid.org/0000-0002-0459-5027"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kexin Guo","raw_affiliation_strings":["School of Aeronautical Science and Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Aeronautical Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084857817","display_name":"Xiang Yu","orcid":"https://orcid.org/0000-0002-9005-3733"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Yu","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5001136259"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":3.844,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.93691674,"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":"4006","last_page":"4021"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":1.0,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":1.0,"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":0.9983999729156494,"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":0.9976000189781189,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.781589150428772},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6492644548416138},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5867111086845398},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4711816608905792},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46198540925979614},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4506235718727112},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4077078104019165},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2926156520843506},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21331894397735596},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1749267578125}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.781589150428772},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6492644548416138},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5867111086845398},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4711816608905792},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46198540925979614},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4506235718727112},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4077078104019165},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2926156520843506},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21331894397735596},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1749267578125},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2024.3406754","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3406754","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/G3302121963","display_name":null,"funder_award_id":"20230484266","funder_id":"https://openalex.org/F4320334978","funder_display_name":"Beijing Nova Program"},{"id":"https://openalex.org/G4673159267","display_name":null,"funder_award_id":"62203033","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6426462449","display_name":null,"funder_award_id":"62273023","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6715884634","display_name":null,"funder_award_id":"LQ23F030020","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"},{"id":"https://openalex.org/G708414365","display_name":null,"funder_award_id":"62388101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G909609534","display_name":null,"funder_award_id":"2022YFB4701300","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program 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/F4320334978","display_name":"Beijing Nova Program","ror":"https://ror.org/034k14f91"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W1548040463","https://openalex.org/W1561858273","https://openalex.org/W1576721254","https://openalex.org/W1709865076","https://openalex.org/W1990380686","https://openalex.org/W2008217681","https://openalex.org/W2047035041","https://openalex.org/W2162991084","https://openalex.org/W2215973529","https://openalex.org/W2230652337","https://openalex.org/W2594548803","https://openalex.org/W2739355872","https://openalex.org/W2757657624","https://openalex.org/W2762764329","https://openalex.org/W2763446923","https://openalex.org/W2788319054","https://openalex.org/W2796767072","https://openalex.org/W2809971797","https://openalex.org/W2889829150","https://openalex.org/W2890813673","https://openalex.org/W2954055669","https://openalex.org/W2964222556","https://openalex.org/W2969259835","https://openalex.org/W2971969325","https://openalex.org/W3025179402","https://openalex.org/W3039488576","https://openalex.org/W3041296001","https://openalex.org/W3093655195","https://openalex.org/W3125416317","https://openalex.org/W3128011616","https://openalex.org/W3160039362","https://openalex.org/W3167458237","https://openalex.org/W3174123873","https://openalex.org/W3189042648","https://openalex.org/W3193603974","https://openalex.org/W3197225143","https://openalex.org/W4205550208","https://openalex.org/W4210469999","https://openalex.org/W4285277704","https://openalex.org/W4286364951","https://openalex.org/W4288391406","https://openalex.org/W4296552195","https://openalex.org/W4311754178","https://openalex.org/W4312698486","https://openalex.org/W4361760859","https://openalex.org/W4379409060","https://openalex.org/W4382050812","https://openalex.org/W4389317875","https://openalex.org/W4392452505","https://openalex.org/W4399469378"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W3033677963"],"abstract_inverted_index":{"One":[0],"of":[1,8,19,84,100,161,185,206,220,232,250,268,291,311,323],"inescapable":[2],"challenges":[3],"in":[4,79,111,308],"facilitating":[5],"the":[6,14,20,26,76,85,90,101,129,149,155,162,166,174,183,186,201,229,233,237,242,247,251,269,275,289,292,296,304,309,321,324],"application":[7],"aerial":[9,208,234,293,335],"manipulators":[10],"is":[11,61,72,134,151,171,198,264,280,285,299],"to":[12,49,63,74,127,136,153,181,194,211,287,301],"achieve":[13],"high":[15],"precision":[16],"control":[17,52,59,189,204,262],"performance":[18,231],"end-effector.":[21],"The":[22,97,132,159,278,282,317],"manipulator":[23,167,209,270],"motions":[24],"beneath":[25],"UAV":[27],"platform":[28],"constantly":[29],"contend":[30],"with":[31],"composite":[32,58,138,188,238,261,338],"disturbances,":[33],"such":[34],"as":[35],"floating":[36],"base,":[37],"strong":[38,213,312],"inner":[39,142],"coupling":[40,143,313],"effects,":[41],"and":[42,119,145,169,216,274,314],"model":[43,140,146,217,315],"uncertainties.":[44,218,316],"These":[45],"factors":[46],"collectively":[47],"contribute":[48],"an":[50,207],"inadequate":[51],"performance.":[53],"In":[54,257],"this":[55,65,225,258],"paper,":[56],"a":[57,68,107,112,260],"scheme":[60,263,319],"presented":[62],"tackle":[64],"issue.":[66],"Specifically,":[67],"joint":[69,87,130,271,283,306],"velocity":[70,272,284,307],"planner":[71,273],"proposed":[73,187,318],"handle":[75,154],"base-floating":[77,91],"disturbance":[78,92,121],"kinematic":[80],"loop.":[81],"By":[82],"virtue":[83],"generated":[86,286],"reference":[88],"signal,":[89],"can":[93,103],"be":[94,104],"effectively":[95],"alleviated.":[96],"tracking":[98],"error":[99],"end-effector":[102,203],"ensured":[105],"within":[106],"small":[108],"set.":[109],"Moreover,":[110],"complementary":[113],"manner,":[114],"neural":[115],"network":[116],"(NN)":[117],"approximation":[118],"nonlinear":[120],"observer":[122],"(NDO)":[123],"compensation":[124],"are":[125,179,253],"combined":[126],"track":[128,303],"references.":[131],"NN":[133],"adopted":[135],"estimate":[137],"dynamic":[139,214,276,297],"including":[141,165],"effects":[144],"uncertainties,":[147],"while":[148],"NDO":[150],"designed":[152],"remaining":[156],"uncompensated":[157],"part.":[158],"stability":[160,322],"closed-loop":[163],"system":[164],"kinematics":[168],"dynamics":[170],"guaranteed":[172],"using":[173],"Lyapunov-like":[175],"method.":[176],"Experimental":[177],"results":[178],"reported":[180],"manifest":[182],"effectiveness":[184],"scheme.":[190],"<italic":[191],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[192],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[193],"Practitioners</i>":[195],"\u2014This":[196],"work":[197],"driven":[199],"by":[200,227],"precise":[202],"problem":[205],"subject":[210],"base-floating,":[212],"coupling,":[215],"Most":[219],"existing":[221],"approaches":[222],"implicitly":[223],"address":[224],"issue":[226],"improving":[228],"flight":[230],"platform.":[235,294],"However,":[236],"disturbances":[239],"acted":[240],"on":[241],"manipulator,":[243],"which":[244,266],"would":[245],"deteriorate":[246],"operation":[248],"accuracy":[249],"end-effector,":[252],"not":[254],"systematically":[255],"addressed.":[256],"work,":[259],"constructed,":[265],"consists":[267],"controller.":[277],"idea":[279],"intuitive.":[281],"counteract":[288],"fluctuation":[290],"Furthermore,":[295],"controller":[298],"developed":[300],"accurately":[302],"planned":[305],"presence":[310],"guarantees":[320],"close":[325],"loop":[326],"system,":[327],"making":[328],"our":[329],"approach":[330],"especially":[331],"promising":[332],"solution":[333],"for":[334],"manipulation":[336],"under":[337],"disturbances.":[339]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}