{"id":"https://openalex.org/W4399282487","doi":"https://doi.org/10.1109/tase.2024.3407191","title":"Toward Air Operation Aerial Manipulator Control With a Refined Anti-Disturbance Architecture","display_name":"Toward Air Operation Aerial Manipulator Control With a Refined Anti-Disturbance Architecture","publication_year":2024,"publication_date":"2024-06-03","ids":{"openalex":"https://openalex.org/W4399282487","doi":"https://doi.org/10.1109/tase.2024.3407191"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2024.3407191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3407191","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/A5075248381","display_name":"Shangke Lyu","orcid":"https://orcid.org/0000-0002-8302-6630"},"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":"Shangke Lyu","raw_affiliation_strings":["Hangzhou Innovation Institute, Beihang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-8302-6630","affiliations":[{"raw_affiliation_string":"Hangzhou Innovation Institute, Beihang University, Hangzhou, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102883999","display_name":"Yu Zhang","orcid":"https://orcid.org/0009-0001-6006-3068"},"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":"Yu Zhang","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"raw_orcid":null,"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/A5100740555","display_name":"Jianliang Wang","orcid":"https://orcid.org/0000-0002-7265-4391"},"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":"Jianliang Wang","raw_affiliation_strings":["Hangzhou Innovation Institute, Beihang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-7265-4391","affiliations":[{"raw_affiliation_string":"Hangzhou Innovation Institute, Beihang University, Hangzhou, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080753188","display_name":"Chien Chern Cheah","orcid":"https://orcid.org/0000-0003-3728-9277"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chien Chern Cheah","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Ave, Singapore","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0003-3728-9277","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Ave, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"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"],"raw_orcid":"https://orcid.org/0000-0002-9005-3733","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":5,"corresponding_author_ids":["https://openalex.org/A5075248381"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":3.1027,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.91642555,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"22","issue":null,"first_page":"4076","last_page":"4091"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9932000041007996,"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":0.9932000041007996,"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":0.9787999987602234,"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/T12158","display_name":"Guidance and Control Systems","score":0.9560999870300293,"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/manipulator","display_name":"Manipulator (device)","score":0.7173874974250793},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.6947546601295471},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.5572750568389893},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5449168086051941},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49931764602661133},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.47720345854759216},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.47698289155960083},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4529187083244324},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41956156492233276},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2901369333267212},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18698951601982117},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.08729031682014465},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.08444583415985107}],"concepts":[{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.7173874974250793},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.6947546601295471},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.5572750568389893},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5449168086051941},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49931764602661133},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.47720345854759216},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.47698289155960083},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4529187083244324},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41956156492233276},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2901369333267212},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18698951601982117},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.08729031682014465},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.08444583415985107},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2024.3407191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3407191","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":[{"id":"https://metadata.un.org/sdg/13","score":0.5899999737739563,"display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G3414105638","display_name":null,"funder_award_id":"62003018","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4099648248","display_name":null,"funder_award_id":"62173024","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"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/G7348916265","display_name":null,"funder_award_id":"2022YFB4701301","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/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":43,"referenced_works":["https://openalex.org/W1941749034","https://openalex.org/W1964573745","https://openalex.org/W1974425421","https://openalex.org/W1978555529","https://openalex.org/W1988726781","https://openalex.org/W1990851787","https://openalex.org/W2005057587","https://openalex.org/W2007554064","https://openalex.org/W2008364784","https://openalex.org/W2009654645","https://openalex.org/W2015367954","https://openalex.org/W2016380077","https://openalex.org/W2019896740","https://openalex.org/W2033850389","https://openalex.org/W2047035041","https://openalex.org/W2060250110","https://openalex.org/W2107122393","https://openalex.org/W2120320883","https://openalex.org/W2121385616","https://openalex.org/W2162991084","https://openalex.org/W2215973529","https://openalex.org/W2561418509","https://openalex.org/W2565660673","https://openalex.org/W2565747152","https://openalex.org/W2592066277","https://openalex.org/W2757657624","https://openalex.org/W2762764329","https://openalex.org/W2792083172","https://openalex.org/W2889955698","https://openalex.org/W2949736360","https://openalex.org/W2970307344","https://openalex.org/W2994412884","https://openalex.org/W3041296001","https://openalex.org/W3083270461","https://openalex.org/W3128011616","https://openalex.org/W3167458237","https://openalex.org/W3174123873","https://openalex.org/W3207925858","https://openalex.org/W4213096038","https://openalex.org/W4285256625","https://openalex.org/W4285258898","https://openalex.org/W4361760859","https://openalex.org/W6630103998"],"related_works":["https://openalex.org/W2362551533","https://openalex.org/W2386777533","https://openalex.org/W2615607975","https://openalex.org/W2373581562","https://openalex.org/W2354638634","https://openalex.org/W1973860365","https://openalex.org/W2358412393","https://openalex.org/W2380159283","https://openalex.org/W4319156915","https://openalex.org/W2192101006"],"abstract_inverted_index":{"Due":[0],"to":[1,68,86,125,165,191,203,223,289,299,336,355],"the":[2,19,31,38,41,45,57,61,65,69,72,76,79,82,87,97,100,127,147,172,177,193,196,207,212,224,236,244,248,259,269,307,315,333,340,344],"presence":[3],"of":[4,13,24,40,64,71,81,99,176,195,206,226,230],"strong":[5],"inner":[6],"dynamic":[7,47,128],"coupling":[8,48],"and":[9,60,113,132,162,168,220,255,272,303,329],"changes":[10],"in":[11,91,235,268,293,322,339],"center":[12],"mass":[14],"(CoM)":[15],"during":[16],"tasks":[17,341],"execution,":[18],"precise":[20],"tracking":[21,326],"control":[22,73,120,142,179,198,233,327,349],"problem":[23,328],"aerial":[25,149,213,239,323,334],"manipulator":[26,33,42,101,150,214,240,324,335],"systems":[27,358],"becomes":[28],"challenging.":[29],"When":[30],"mounted":[32],"is":[34,118,123,144,181,217,284,287],"performing":[35],"a":[36,92,139,280,294,319],"task,":[37],"movements":[39],"will":[43],"cause":[44],"inherent":[46],"force/torque":[49],"disturbances.":[50,228,362],"Such":[51],"disturbances":[52,105,154,246,292,317],"are":[53,159,189,261],"quickly":[54],"acted":[55],"on":[56,96,171,258,306,343],"position":[58],"loop":[59,63],"orientation":[62],"UAV":[66,83],"body,":[67],"detriment":[70],"accuracy.":[74,345],"On":[75],"other":[77,356],"hand,":[78],"fluctuation":[80],"body":[84],"leads":[85],"base":[88,133],"floating,":[89],"resulting":[90],"significantly":[93],"adverse":[94],"influence":[95],"precision":[98],"end-effector.":[102],"Since":[103],"different":[104,156,256,316],"have":[106],"distinct":[107,252],"mathematical":[108,157,253,301],"properties,":[109],"i.e.,":[110],"norm":[111],"bounded":[112],"rate":[114],"bounded,":[115],"currently,":[116],"there":[117],"no":[119],"framework":[121,180],"that":[122,210,312],"able":[124,288],"tackle":[126],"coupling,":[129],"model":[130],"uncertainty":[131],"floating":[134],"simultaneously.":[135],"In":[136,277,346],"this":[137,278],"paper,":[138],"refined":[140],"anti-disturbance":[141,282],"architecture":[143,283],"proposed":[145,178,197],"for":[146,238],"decentralized":[148],"model,":[151],"where":[152],"various":[153,227,245,291,361],"with":[155,243],"properties":[158,254,302],"well":[160,263],"explored":[161],"tackled":[163],"according":[164,298],"their":[166,300],"positions":[167],"effects":[169,304],"acting":[170,305],"system.":[173,308],"The":[174],"stability":[175,219],"ensured":[182],"by":[183],"using":[184],"Lyapunov-like":[185],"analysis.":[186],"Experimental":[187],"results":[188],"presented":[190],"illustrate":[192],"performance":[194,270,321],"framework.":[199],"<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],"\u2014One":[205],"key":[208],"challenges":[209],"hinder":[211],"potential":[215],"applications":[216],"its":[218,274],"accuracy":[221],"due":[222],"existence":[225],"Most":[229],"disturbance":[231],"rejection":[232],"methods":[234],"literature":[237],"always":[241],"deal":[242],"as":[247],"lumped":[249],"one.":[250],"Their":[251],"impacts":[257],"system":[260],"not":[262],"explored,":[264],"which":[265,286],"may":[266],"result":[267],"degradation":[271],"limit":[273],"practical":[275],"implementation.":[276],"article,":[279],"refine":[281],"proposed,":[285],"handle":[290],"more":[295],"systematical":[296],"way":[297],"Physical":[309],"experiments":[310],"suggest":[311],"finely":[313],"tackling":[314],"enjoys":[318],"better":[320],"trajectory":[325],"thus":[330],"can":[331,351],"promote":[332],"be":[337,353],"deployed":[338],"demanding":[342],"addition,":[347],"such":[348],"strategy":[350],"also":[352],"extended":[354],"robotic":[357],"suffering":[359],"from":[360]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}
