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The selected circular image feature decouples the position and attitude of UAM, so an image-based impedance control is proposed to control the position and track the contact force. The developed controller uses geometric methods to control the attitude. In addition, the designed aerial manipulator decouples the roll and pitch of the UAV from the UAV, which improves the system\u2019s stability. Experiments have been carried out to demonstrate the feasibility of this method.<\/jats:p>","DOI":"10.1017\/s0263574722001588","type":"journal-article","created":{"date-parts":[[2022,11,7]],"date-time":"2022-11-07T09:44:26Z","timestamp":1667814266000},"page":"1145-1158","source":"Crossref","is-referenced-by-count":15,"title":["Autonomous control design of an unmanned aerial manipulator for contact inspection"],"prefix":"10.1017","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8439-7847","authenticated-orcid":false,"given":"Junhao","family":"Zeng","sequence":"first","affiliation":[]},{"given":"Hang","family":"Zhong","sequence":"additional","affiliation":[]},{"given":"Yaonan","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Shuangwen","family":"Fan","sequence":"additional","affiliation":[]},{"given":"Hui","family":"Zhang","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2022,11,7]]},"reference":[{"key":"S0263574722001588_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2018.2888911"},{"key":"S0263574722001588_ref4","doi-asserted-by":"crossref","unstructured":"[4] Caballero, A. , Suarez, A. , Real, F. , Vega, V. M. , Bejar, M. , Rodriguez-Casta\u00f1o, A. and Ollero, A. , \u201cFirst Experimental Results on Motion Planning for Transportation in Aerial Long-Reach Manipulators with Two Arms,\u201d In: 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, IEEE (2018) pp. 8471\u20138477.","DOI":"10.1109\/IROS.2018.8594123"},{"key":"S0263574722001588_ref5","doi-asserted-by":"crossref","unstructured":"[5] Pereira, P. O. and Dimarogonas, D. 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A. , \u201cAutonomous Visual Navigation of Unmanned Aerial Vehicle for Wind Turbine Inspection,\u201d In: 2015 International Conference on Unmanned Aircraft Systems (ICUAS), Denver, CO, USA, IEEE (2015) pp. 998\u20131007.","DOI":"10.1109\/ICUAS.2015.7152389"},{"key":"S0263574722001588_ref25","doi-asserted-by":"publisher","DOI":"10.1108\/AA-12-2021-0174"},{"key":"S0263574722001588_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2021.3129486"},{"key":"S0263574722001588_ref20","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-021-01482-3"},{"key":"S0263574722001588_ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2016.2639531"},{"key":"S0263574722001588_ref14","doi-asserted-by":"crossref","unstructured":"[14] Lin, J. , Wang, Y. , Miao, Z. , Zhong, H. , Nie, J. and Fierro, R. , \u201cRobust Image-Based Landing Control of a Quadrotor on an Unknown Moving Platform Using Circle Features,\u201d In: 2021 IEEE International Conference on Real-time Computing and Robotics (RCAR), Xining, China, IEEE (2021) pp. 177\u2013182.","DOI":"10.1109\/RCAR52367.2021.9517654"},{"key":"S0263574722001588_ref12","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574714002707"},{"key":"S0263574722001588_ref17","doi-asserted-by":"publisher","DOI":"10.1002\/asjc.887"},{"key":"S0263574722001588_ref11","doi-asserted-by":"publisher","DOI":"10.3390\/s19061305"},{"key":"S0263574722001588_ref10","doi-asserted-by":"crossref","unstructured":"[10] McArthur, D. 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