{"id":"https://openalex.org/W7123359692","doi":"https://doi.org/10.1109/tii.2025.3643589","title":"Contact Force Tracking Control for Aerial Manipulators in Unknown Dynamic Environments","display_name":"Contact Force Tracking Control for Aerial Manipulators in Unknown Dynamic Environments","publication_year":2026,"publication_date":"2026-01-12","ids":{"openalex":"https://openalex.org/W7123359692","doi":"https://doi.org/10.1109/tii.2025.3643589"},"language":null,"primary_location":{"id":"doi:10.1109/tii.2025.3643589","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2025.3643589","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Industrial Informatics","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/A5081523214","display_name":"Y. D. Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanjie Chen","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0001-9750-9177","affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111593980","display_name":"Zhiping Dai","orcid":"https://orcid.org/0009-0002-5936-9614"},"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":"Zhiping Dai","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China"],"raw_orcid":"https://orcid.org/0009-0002-5936-9614","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/A5112854914","display_name":"Yujie Lin","orcid":null},"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":"Yujie Lin","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China"],"raw_orcid":"https://orcid.org/0009-0005-3094-4939","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/A5051007568","display_name":"L Zhang","orcid":null},"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":"Liping Zhang","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/A5122889080","display_name":"Huimin Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huimin Lu","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-6375-581X","affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122886885","display_name":"Hui Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Hui Zhang","raw_affiliation_strings":["School of Artificial Intelligence and Robotics, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-1803-3148","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Robotics, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I4210121405"]}]},{"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/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Yaonan Wang","raw_affiliation_strings":["School of Artificial Intelligence and Robotics, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-0519-6458","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Robotics, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I4210121405"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.04810334,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"22","issue":"4","first_page":"2997","last_page":"3007"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.352400004863739,"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":0.352400004863739,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.3034999966621399,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.13269999623298645,"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":0.8687999844551086},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6294000148773193},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5648000240325928},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5450999736785889},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5436000227928162},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.5374000072479248},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5343999862670898},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5142999887466431},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5008999705314636},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.498199999332428}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8687999844551086},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6294000148773193},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5648000240325928},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5450999736785889},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5436000227928162},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.5374000072479248},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5343999862670898},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5142999887466431},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5008999705314636},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.498199999332428},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4975999891757965},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.43470001220703125},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4296000003814697},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4016000032424927},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.39469999074935913},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38499999046325684},{"id":"https://openalex.org/C129537906","wikidata":"https://www.wikidata.org/wiki/Q7603913","display_name":"State variable","level":2,"score":0.37940001487731934},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.37310001254081726},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.357699990272522},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.353300005197525},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.3377000093460083},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.3012999892234802},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2985000014305115},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2858999967575073},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.27149999141693115},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.25859999656677246},{"id":"https://openalex.org/C199723944","wikidata":"https://www.wikidata.org/wiki/Q3041998","display_name":"Force dynamics","level":2,"score":0.2565000057220459},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.25189998745918274},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.25189998745918274},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.25060001015663147}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tii.2025.3643589","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2025.3643589","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Industrial Informatics","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/G3645666365","display_name":null,"funder_award_id":"62433010","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6258236843","display_name":null,"funder_award_id":"92148204","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0,93],"this":[1],"article,":[2],"an":[3,34,42],"admittance":[4,44],"control":[5,117,146],"strategy":[6,125],"for":[7],"aerial":[8],"manipulators":[9],"is":[10,39,49,86,126],"proposed":[11,124],"to":[12,57,64,88,105,140],"achieve":[13,89],"contact":[14,156],"force":[15,31,55,157],"tracking":[16,32,71,91],"in":[17,27,152],"unknown":[18,28,161],"dynamic":[19,162],"environments.":[20,163],"First,":[21],"considering":[22],"the":[23,59,66,94,101,120,123,142,145],"impact":[24],"of":[25,68,78,96,99,122,144],"variations":[26],"environments":[29],"on":[30],"performance,":[33],"adaptive":[35],"variable":[36],"stiffness":[37,47],"feature":[38],"incorporated":[40],"into":[41],"advanced":[43],"model.":[45],"The":[46],"coefficient":[48],"dynamically":[50],"adjusted":[51],"using":[52],"position":[53],"and":[54,82,134],"feedback":[56],"generate":[58],"desired":[60],"reference":[61,69],"trajectory.":[62],"Second,":[63],"address":[65],"issue":[67],"trajectory":[70],"under":[72],"disturbances,":[73,100],"a":[74,79,106,110,154],"pose":[75],"controller":[76],"composed":[77],"disturbance":[80],"observer":[81],"barrier":[83],"Lyapunov":[84,130],"function":[85],"utilized":[87],"stable":[90,155],"performance.":[92],"absence":[95],"prior":[97],"knowledge":[98],"state":[102],"variables":[103],"converge":[104],"constrained":[107],"range":[108],"within":[109],"finite":[111],"time,":[112],"without":[113],"introducing":[114],"excessively":[115],"high":[116],"gains.":[118],"Finally,":[119],"stability":[121],"rigorously":[127],"analyzed":[128],"via":[129],"tools.":[131],"Both":[132],"simulations":[133],"real-world":[135],"experimental":[136],"investigations":[137],"are":[138],"conducted":[139],"demonstrate":[141],"feasibility":[143],"strategy,":[147],"highlighting":[148],"its":[149],"robust":[150],"performance":[151],"maintaining":[153],"during":[158],"interaction":[159],"with":[160]},"counts_by_year":[],"updated_date":"2026-04-07T06:01:17.266235","created_date":"2026-01-14T00:00:00"}