{"id":"https://openalex.org/W4412098958","doi":"https://doi.org/10.3389/frobt.2025.1528415","title":"Hybrid disturbance observer and fuzzy logic controller for a new aerial manipulation system","display_name":"Hybrid disturbance observer and fuzzy logic controller for a new aerial manipulation system","publication_year":2025,"publication_date":"2025-07-07","ids":{"openalex":"https://openalex.org/W4412098958","doi":"https://doi.org/10.3389/frobt.2025.1528415","pmid":"https://pubmed.ncbi.nlm.nih.gov/40692644"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2025.1528415","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1528415","pdf_url":null,"source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3389/frobt.2025.1528415","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5077492590","display_name":"Alaa Khalifa","orcid":"https://orcid.org/0000-0002-1617-5409"},"institutions":[{"id":"https://openalex.org/I63601056","display_name":"Menoufia University","ror":"https://ror.org/05sjrb944","country_code":"EG","type":"education","lineage":["https://openalex.org/I63601056"]}],"countries":["EG"],"is_corresponding":true,"raw_author_name":"Alaa Khalifa","raw_affiliation_strings":["Cardiff School of technologies, Cardiff Metropolitan University, Cardiff, United Kingdom","Department of Industrial Electronics and Control Engineering, Faculty of Electronic Engineering, Menoufia University, Menouf, Egypt"],"affiliations":[{"raw_affiliation_string":"Cardiff School of technologies, Cardiff Metropolitan University, Cardiff, United Kingdom","institution_ids":[]},{"raw_affiliation_string":"Department of Industrial Electronics and Control Engineering, Faculty of Electronic Engineering, Menoufia University, Menouf, Egypt","institution_ids":["https://openalex.org/I63601056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102925589","display_name":"Shaaban M. Shaaban","orcid":"https://orcid.org/0000-0002-3624-2111"},"institutions":[{"id":"https://openalex.org/I118590987","display_name":"Northern Border University","ror":"https://ror.org/03j9tzj20","country_code":"SA","type":"education","lineage":["https://openalex.org/I118590987"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Shaaban M. Shaaban","raw_affiliation_strings":["Center for Scientific Research and Entrepreneurship, Northern Border University, Arar, Saudi Arabia"],"affiliations":[{"raw_affiliation_string":"Center for Scientific Research and Entrepreneurship, Northern Border University, Arar, Saudi Arabia","institution_ids":["https://openalex.org/I118590987"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101572265","display_name":"Ahmed Khalifa","orcid":"https://orcid.org/0000-0003-2029-8038"},"institutions":[{"id":"https://openalex.org/I63601056","display_name":"Menoufia University","ror":"https://ror.org/05sjrb944","country_code":"EG","type":"education","lineage":["https://openalex.org/I63601056"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Ahmed Khalifa","raw_affiliation_strings":["Cardiff School of technologies, Cardiff Metropolitan University, Cardiff, United Kingdom","Department of Industrial Electronics and Control Engineering, Faculty of Electronic Engineering, Menoufia University, Menouf, Egypt"],"affiliations":[{"raw_affiliation_string":"Cardiff School of technologies, Cardiff Metropolitan University, Cardiff, United Kingdom","institution_ids":[]},{"raw_affiliation_string":"Department of Industrial Electronics and Control Engineering, Faculty of Electronic Engineering, Menoufia University, Menouf, Egypt","institution_ids":["https://openalex.org/I63601056"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5077492590"],"corresponding_institution_ids":["https://openalex.org/I63601056"],"apc_list":{"value":1900,"currency":"USD","value_usd":1900},"apc_paid":{"value":1900,"currency":"USD","value_usd":1900},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14722989,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"12","issue":null,"first_page":"1528415","last_page":"1528415"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"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":0.9987999796867371,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9980999827384949,"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":0.9979000091552734,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7832896709442139},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.624805212020874},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.5863757729530334},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5300353169441223},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5229945182800293},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.45312902331352234},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44124385714530945},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.4148838222026825},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2628147006034851}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7832896709442139},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.624805212020874},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.5863757729530334},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5300353169441223},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5229945182800293},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.45312902331352234},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44124385714530945},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.4148838222026825},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2628147006034851},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3389/frobt.2025.1528415","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1528415","pdf_url":null,"source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:40692644","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40692644","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in robotics and AI","raw_type":null},{"id":"pmh:oai:doaj.org/article:a870b9ca79e14aa68d403db6fe8ed5be","is_oa":true,"landing_page_url":"https://doaj.org/article/a870b9ca79e14aa68d403db6fe8ed5be","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 12 (2025)","raw_type":"article"},{"id":"pmh:oai:pubmedcentral.nih.gov:12277165","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/12277165","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Robot AI","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3389/frobt.2025.1528415","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1528415","pdf_url":null,"source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1256870269","https://openalex.org/W2015173388","https://openalex.org/W2044267027","https://openalex.org/W2055913619","https://openalex.org/W2084390534","https://openalex.org/W2157577511","https://openalex.org/W2159786429","https://openalex.org/W2182216005","https://openalex.org/W2478661311","https://openalex.org/W2483978330","https://openalex.org/W2529229285","https://openalex.org/W2574141186","https://openalex.org/W2592066277","https://openalex.org/W2603817195","https://openalex.org/W2748466577","https://openalex.org/W2762764329","https://openalex.org/W2792083172","https://openalex.org/W2809514727","https://openalex.org/W2809971797","https://openalex.org/W2985737069","https://openalex.org/W3106585873","https://openalex.org/W3142418137","https://openalex.org/W3151832812","https://openalex.org/W3161262304","https://openalex.org/W3174123873","https://openalex.org/W3197345045","https://openalex.org/W4243008427","https://openalex.org/W4245550013","https://openalex.org/W4247871450","https://openalex.org/W4318954093","https://openalex.org/W4388983808","https://openalex.org/W4391901392","https://openalex.org/W4400071303","https://openalex.org/W4404534424","https://openalex.org/W6654196366","https://openalex.org/W6671603184","https://openalex.org/W6683543377","https://openalex.org/W6686093975","https://openalex.org/W6728103535","https://openalex.org/W6732077845","https://openalex.org/W6860127186"],"related_works":["https://openalex.org/W2000675896","https://openalex.org/W135622916","https://openalex.org/W2374505097","https://openalex.org/W2111061838","https://openalex.org/W2377352101","https://openalex.org/W45447653","https://openalex.org/W2299009434","https://openalex.org/W2375158056","https://openalex.org/W2351979373","https://openalex.org/W2144013999"],"abstract_inverted_index":{"Aerial":[0],"manipulation":[1,95,133],"systems":[2,16],"are":[3,21],"highly":[4],"attractive":[5],"for":[6,130,141],"various":[7],"applications":[8],"due":[9],"to":[10,55,77,171],"their":[11],"distinctive":[12,71],"features.":[13],"However,":[14],"the":[15,19,50,75,84,93,150,168,173,187,193,200,247,250,258,262],"discussed":[17],"in":[18],"literature":[20],"constrained":[22],"by":[23],"either":[24],"a":[25,44,47,53,62,66,70,79,125,154,161],"restricted":[26],"number":[27,86],"of":[28,31,52,87,92,114,186,211,249],"end-effector":[29,76],"degrees":[30],"freedom":[32],"(DOFs)":[33],"or":[34],"low":[35,214],"payload":[36,222],"capability.":[37],"In":[38],"our":[39],"previous":[40],"research,":[41],"we":[42],"mounted":[43],"manipulator":[45,68],"with":[46,65,83,98,213],"gripper":[48],"on":[49],"underside":[51],"quadrotor":[54,63],"enhance":[56],"environmental":[57],"interaction.":[58],"This":[59,122],"paper":[60,123],"explores":[61],"equipped":[64],"2-DOF":[67],"featuring":[69],"topology":[72],"that":[73,257],"allows":[74],"follow":[78],"specified":[80],"6-DOF":[81,206],"trajectory":[82],"least":[85],"actuators":[88],"required.":[89],"An":[90],"overview":[91],"proposed":[94,188,251,259],"system,":[96],"along":[97],"its":[99,115],"kinematic":[100],"and":[101,119,143,146,177,199,240],"dynamic":[102],"analysis,":[103],"is":[104,139,165,190,195],"presented.":[105],"Nevertheless,":[106],"controlling":[107],"this":[108],"system":[109,194,218],"presents":[110],"significant":[111],"challenges":[112],"because":[113],"considerable":[116],"couplings,":[117],"nonlinearities,":[118],"external":[120],"disturbances.":[121],"employs":[124],"Disturbance":[126],"Observer":[127],"(DOb)-based":[128],"linearization":[129],"an":[131],"aerial":[132],"robot.":[134],"The":[135,217],"DOb-based":[136],"inner":[137],"loop":[138,170],"responsible":[140],"estimating":[142],"compensating":[144],"nonlinearities":[145],"disturbances,":[147,212],"which":[148],"simplifies":[149],"control":[151,158,175,252],"problem":[152],"into":[153,167],"more":[155],"straightforward":[156],"linear":[157],"algorithm.":[159],"Subsequently,":[160],"fuzzy":[162],"logic":[163],"controller":[164,189,260],"incorporated":[166],"outer":[169],"achieve":[172],"desired":[174],"objectives":[176],"closed-loop":[178],"performance":[179],"while":[180,224],"minimizing":[181],"computational":[182,215],"load.":[183,216],"Stability":[184],"analysis":[185],"introduced.":[191],"Finally,":[192],"simulated":[196],"using":[197],"MATLAB/SIMULINK,":[198],"results":[201,245],"demonstrate":[202,246],"tracking":[203],"accuracy":[204],"during":[205,221],"maneuvers":[207],"under":[208],"many":[209],"kinds":[210],"maintains":[219],"stability":[220],"exchanges":[223],"respecting":[225],"all":[226],"actuator":[227],"constraints":[228],"(rotor":[229],"thrust":[230],"less":[231,237],"than":[232,238],"6":[233],"N,":[234],"joint":[235],"torques":[236],"0.7":[239],"0.4":[241],"N.m,":[242],"respectively).":[243],"These":[244],"effectiveness":[248],"approach.":[253],"Also,":[254],"they":[255],"show":[256],"outperforms":[261],"DOb-PD":[263],"controller's":[264],"response.":[265]},"counts_by_year":[],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}