{"id":"https://openalex.org/W4390618892","doi":"https://doi.org/10.1016/j.robot.2023.104614","title":"Multitask control of aerial manipulator robots with dynamic compensation based on numerical methods","display_name":"Multitask control of aerial manipulator robots with dynamic compensation based on numerical methods","publication_year":2024,"publication_date":"2024-01-05","ids":{"openalex":"https://openalex.org/W4390618892","doi":"https://doi.org/10.1016/j.robot.2023.104614"},"language":"en","primary_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.robot.2023.104614","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true},"type":"article","type_crossref":"journal-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1016/j.robot.2023.104614","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072606014","display_name":"Christian P. Carvajal","orcid":"https://orcid.org/0000-0003-0246-8523"},"institutions":[{"id":"https://openalex.org/I151201029","display_name":"Consejo Nacional de Investigaciones Cient\u00edficas y T\u00e9cnicas","ror":"https://ror.org/03cqe8w59","country_code":"AR","type":"government","lineage":["https://openalex.org/I151201029","https://openalex.org/I4210123736","https://openalex.org/I4387155568"]},{"id":"https://openalex.org/I39553462","display_name":"National University of San Juan","ror":"https://ror.org/02rsnav77","country_code":"AR","type":"education","lineage":["https://openalex.org/I39553462"]}],"countries":["AR"],"is_corresponding":true,"raw_author_name":"Christian P. Carvajal","raw_affiliation_strings":["Instituto de Autom\u00e1tica (INAUT), Universidad Nacional de San Juan - CONICET, Av. San Mart\u00edn (Oeste) 1109, San Juan, Argentina"],"affiliations":[{"raw_affiliation_string":"Instituto de Autom\u00e1tica (INAUT), Universidad Nacional de San Juan - CONICET, Av. San Mart\u00edn (Oeste) 1109, San Juan, Argentina","institution_ids":["https://openalex.org/I151201029","https://openalex.org/I39553462"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051664327","display_name":"Gabriela M. Andaluz","orcid":null},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Gabriela M. Andaluz","raw_affiliation_strings":["University of Zaragoza, Department of Electronic Engineering and Communications, Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"University of Zaragoza, Department of Electronic Engineering and Communications, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060180789","display_name":"V\u00edctor H. Andaluz","orcid":"https://orcid.org/0000-0002-8127-1595"},"institutions":[{"id":"https://openalex.org/I118946981","display_name":"Escuela Polit\u00e9cnica del Ej\u00e9rcito","ror":"https://ror.org/05j136930","country_code":"EC","type":"education","lineage":["https://openalex.org/I118946981"]}],"countries":["EC"],"is_corresponding":false,"raw_author_name":"V\u00edctor H. Andaluz","raw_affiliation_strings":["Universidad de las Fuerzas Armadas ESPE, Sangolqu\u00ed, Ecuador"],"affiliations":[{"raw_affiliation_string":"Universidad de las Fuerzas Armadas ESPE, Sangolqu\u00ed, Ecuador","institution_ids":["https://openalex.org/I118946981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002030815","display_name":"Flavio Robert\u00ed","orcid":"https://orcid.org/0000-0002-5047-0217"},"institutions":[{"id":"https://openalex.org/I39553462","display_name":"National University of San Juan","ror":"https://ror.org/02rsnav77","country_code":"AR","type":"education","lineage":["https://openalex.org/I39553462"]},{"id":"https://openalex.org/I151201029","display_name":"Consejo Nacional de Investigaciones Cient\u00edficas y T\u00e9cnicas","ror":"https://ror.org/03cqe8w59","country_code":"AR","type":"government","lineage":["https://openalex.org/I151201029","https://openalex.org/I4210123736","https://openalex.org/I4387155568"]}],"countries":["AR"],"is_corresponding":false,"raw_author_name":"Flavio Roberti","raw_affiliation_strings":["Instituto de Autom\u00e1tica (INAUT), Universidad Nacional de San Juan - CONICET, Av. San Mart\u00edn (Oeste) 1109, San Juan, Argentina"],"affiliations":[{"raw_affiliation_string":"Instituto de Autom\u00e1tica (INAUT), Universidad Nacional de San Juan - CONICET, Av. San Mart\u00edn (Oeste) 1109, San Juan, Argentina","institution_ids":["https://openalex.org/I39553462","https://openalex.org/I151201029"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044652806","display_name":"Guillermo Palacios-Navarro","orcid":"https://orcid.org/0000-0002-9408-1280"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Guillermo Palacios-Navarro","raw_affiliation_strings":["University of Zaragoza, Department of Electronic Engineering and Communications, Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"University of Zaragoza, Department of Electronic Engineering and Communications, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000849024","display_name":"Ricardo Carelli","orcid":"https://orcid.org/0000-0003-0688-7020"},"institutions":[{"id":"https://openalex.org/I39553462","display_name":"National University of San Juan","ror":"https://ror.org/02rsnav77","country_code":"AR","type":"education","lineage":["https://openalex.org/I39553462"]},{"id":"https://openalex.org/I151201029","display_name":"Consejo Nacional de Investigaciones Cient\u00edficas y T\u00e9cnicas","ror":"https://ror.org/03cqe8w59","country_code":"AR","type":"government","lineage":["https://openalex.org/I151201029","https://openalex.org/I4210123736","https://openalex.org/I4387155568"]}],"countries":["AR"],"is_corresponding":false,"raw_author_name":"Ricardo Carelli","raw_affiliation_strings":["Instituto de Autom\u00e1tica (INAUT), Universidad Nacional de San Juan - CONICET, Av. San Mart\u00edn (Oeste) 1109, San Juan, Argentina"],"affiliations":[{"raw_affiliation_string":"Instituto de Autom\u00e1tica (INAUT), Universidad Nacional de San Juan - CONICET, Av. San Mart\u00edn (Oeste) 1109, San Juan, Argentina","institution_ids":["https://openalex.org/I39553462","https://openalex.org/I151201029"]}]}],"institution_assertions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5072606014"],"corresponding_institution_ids":["https://openalex.org/I151201029","https://openalex.org/I39553462"],"apc_list":{"value":3020,"currency":"USD","value_usd":3020,"provenance":"doaj"},"apc_paid":{"value":3020,"currency":"USD","value_usd":3020,"provenance":"doaj"},"fwci":5.195,"has_fulltext":true,"fulltext_origin":"pdf","cited_by_count":3,"citation_normalized_percentile":{"value":0.999951,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"173","issue":null,"first_page":"104614","last_page":"104614"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998,"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":0.9998,"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":0.9998,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9991,"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/robustness","display_name":"Robustness","score":0.47582653},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4636252},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.42172137}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.73669535},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.54574466},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.50818324},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.49611005},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49209422},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.49083954},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4758301},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.47582653},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4636252},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.42172137},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.41181087},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32999492},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23822364},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19513878},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.18584344},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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}],"mesh":[],"locations_count":2,"locations":[{"is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.robot.2023.104614","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true},{"is_oa":true,"landing_page_url":"http://zaguan.unizar.es/record/132171","pdf_url":"https://zaguan.unizar.es/record/132171/files/texto_completo.pdf","source":{"id":"https://openalex.org/S4306401812","display_name":"Zaguan (University of Zaragoza Repository)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I255234318","host_organization_name":"Universidad de Zaragoza","host_organization_lineage":["https://openalex.org/I255234318"],"host_organization_lineage_names":["Universidad de Zaragoza"],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.robot.2023.104614","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true},"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":32,"referenced_works":["https://openalex.org/W1549749298","https://openalex.org/W1963866773","https://openalex.org/W1979641008","https://openalex.org/W2005136695","https://openalex.org/W2020053297","https://openalex.org/W2049410986","https://openalex.org/W2134910768","https://openalex.org/W2144908914","https://openalex.org/W2489215700","https://openalex.org/W2534225927","https://openalex.org/W2683298768","https://openalex.org/W2765768827","https://openalex.org/W2905026655","https://openalex.org/W2946031403","https://openalex.org/W2947082796","https://openalex.org/W2964166645","https://openalex.org/W2969259835","https://openalex.org/W2994412884","https://openalex.org/W3036259090","https://openalex.org/W3042779015","https://openalex.org/W3096656822","https://openalex.org/W3108572984","https://openalex.org/W3110751712","https://openalex.org/W3189042648","https://openalex.org/W4210850392","https://openalex.org/W4232175577","https://openalex.org/W4243406041","https://openalex.org/W4245112500","https://openalex.org/W4246507676","https://openalex.org/W4253204626","https://openalex.org/W4310980587","https://openalex.org/W4315690682"],"related_works":["https://openalex.org/W841410736","https://openalex.org/W4226385867","https://openalex.org/W4223569781","https://openalex.org/W3004667746","https://openalex.org/W2966959764","https://openalex.org/W2966461000","https://openalex.org/W2612781909","https://openalex.org/W2167648512","https://openalex.org/W2065660108","https://openalex.org/W129737916"],"abstract_inverted_index":{"This":[0,152],"paper":[1],"presents":[2],"a":[3,37,65,88,92,103,158,173,209,223],"control":[4,22,50,85,97,187,202],"scheme":[5,27],"for":[6,106,182],"aerial":[7,61,215,220],"manipulators":[8],"which":[9,127,178],"allows":[10],"to":[11,75,82,101,120,131,136,199],"solve":[12],"different":[13],"motion":[14,49],"problems:":[15],"end-effector":[16,19],"position":[17],"control,":[18],"trajectory":[20],"tracking":[21],"and":[23,147,163,195,222],"path-following":[24],"control.":[25],"The":[26,114,138,185],"has":[28,70],"two":[29],"cascaded":[30],"controllers:":[31],"i)":[32],"the":[33,47,55,60,77,96,107,111,122,125,133,143,161,192,201],"first":[34],"controller":[35,40,56,117],"is":[36,64,80,99,118,130,150,154,170],"minimum":[38],"norm":[39],"based":[41],"on":[42],"numerical":[43],"methods,":[44],"it":[45,69,79,98,169],"solves":[46],"three":[48],"problems":[51],"just":[52],"by":[53,218],"modifying":[54],"references.":[57],"Also,":[58],"since":[59],"manipulator":[62,216],"robot":[63],"redundant":[66],"system,":[67],"i.e.,":[68],"extra":[71],"degrees":[72],"of":[73,95,124,142,160,175],"freedom":[74],"accomplish":[76],"task,":[78],"possible":[81],"set":[83],"other":[84],"objectives":[86],"in":[87,166,208],"hierarchical":[89],"order.":[90],"As":[91],"secondary":[93],"objective":[94,129],"proposed":[100,186],"maintain":[102],"desired":[104],"configuration":[105],"robotic":[108,144,148,225],"arm":[109],"during":[110],"task.":[112],"ii)":[113],"second":[115],"cascade":[116],"designed":[119],"compensate":[121],"dynamics":[123],"system":[126,145],"main":[128],"drive":[132],"velocity":[134],"errors":[135],"zero.":[137],"coupled":[139],"dynamic":[140],"model":[141,153],"(hexarotor":[146],"arm)":[149],"presented.":[151],"usually":[155],"developed":[156],"as":[157,172],"function":[159,174],"forces":[162],"torques.":[164],"However,":[165],"this":[167],"work,":[168],"written":[171],"reference":[176],"velocities":[177],"are":[179,189,206],"usual":[180],"references":[181],"these":[183],"vehicles.":[184],"algorithms":[188],"given":[190],"with":[191,213],"corresponding":[193],"stability":[194],"robustness":[196],"analysis.":[197],"Finally,":[198],"validate":[200],"scheme,":[203],"experimental":[204],"tests":[205],"performed":[207],"partially":[210],"structured":[211],"environment":[212],"an":[214,219],"conformed":[217],"platform":[221],"3DOF":[224],"arm.":[226]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4390618892","counts_by_year":[{"year":2024,"cited_by_count":3}],"updated_date":"2024-12-30T23:02:42.196618","created_date":"2024-01-07"}