{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,24]],"date-time":"2026-01-24T10:07:08Z","timestamp":1769249228007,"version":"3.49.0"},"reference-count":25,"publisher":"World Scientific Pub Co Pte Ltd","issue":"04","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Un. Sys."],"published-print":{"date-parts":[[2022,10]]},"abstract":"<jats:p> For aerial manipulators, a steady flight must be guaranteed to perform safe interaction with the surrounding environment. This paper focuses on the development of a position control algorithm for an aerial manipulator system (AMS). The position control algorithm is based on the Immersion and Invariance (I&amp;I) theory. The proposed controller maintains the position of the aerial manipulator at the desired point under external and internal disturbances. The control architecture uses a Visual-SLAM technique using on-board sensors for AMS positioning. A series of outdoor experimental tests are performed to demonstrate the effectiveness of the proposed control strategy. <\/jats:p>","DOI":"10.1142\/s2301385022410023","type":"journal-article","created":{"date-parts":[[2022,4,25]],"date-time":"2022-04-25T06:15:33Z","timestamp":1650867333000},"page":"343-353","source":"Crossref","is-referenced-by-count":4,"title":["An Immersion and Invariance Controller for Aerial Manipulation"],"prefix":"10.1142","volume":"10","author":[{"given":"Aar\u00f3n L\u00f3pez","family":"Luna","sequence":"first","affiliation":[{"name":"Instituto Nacional de Astrof\u00edsica, \u00d3ptica y Electr\u00f3nica, Puebla, Mexico"},{"name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del, Instituto Polit\u00e9cnico Nacional, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hugo Rodr\u00edguez","family":"Cort\u00e9s","sequence":"additional","affiliation":[{"name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del, Instituto Polit\u00e9cnico Nacional, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Israel Cruz","family":"Vega","sequence":"additional","affiliation":[{"name":"Instituto Nacional de Astrof\u00edsica, \u00d3ptica y Electr\u00f3nica, Puebla, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jose","family":"Martinez-Carranza","sequence":"additional","affiliation":[{"name":"Instituto Nacional de Astrof\u00edsica, \u00d3ptica y Electr\u00f3nica, Puebla, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2022,6,8]]},"reference":[{"key":"S2301385022410023BIB001","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2519948"},{"key":"S2301385022410023BIB002","doi-asserted-by":"publisher","DOI":"10.1007\/s10015-019-00534-0"},{"key":"S2301385022410023BIB003","volume-title":"10th Int. Micro Air Vehicle Competition and Conf. (IMAV 2018)","volume":"11","author":"Luna A. L.","year":"2018"},{"key":"S2301385022410023BIB004","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696848"},{"key":"S2301385022410023BIB005","doi-asserted-by":"publisher","DOI":"10.1109\/TePRA.2013.6556353"},{"key":"S2301385022410023BIB006","doi-asserted-by":"publisher","DOI":"10.1109\/CoASE.2015.7294098"},{"key":"S2301385022410023BIB007","doi-asserted-by":"publisher","DOI":"10.1109\/ECMR.2015.7324191"},{"key":"S2301385022410023BIB008","author":"Zulu A.","year":"2016","journal-title":"CoRR"},{"key":"S2301385022410023BIB009","volume-title":"ASME Dynamic Systems and Control Conf.","author":"Dollar A.","year":"2010"},{"key":"S2301385022410023BIB010","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-012-9723-4"},{"key":"S2301385022410023BIB011","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2003.809820"},{"key":"S2301385022410023BIB012","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2013.03.019"},{"key":"S2301385022410023BIB013","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2015.7402684"},{"key":"S2301385022410023BIB015","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2013.6728574"},{"key":"S2301385022410023BIB016","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2020.105763"},{"key":"S2301385022410023BIB017","doi-asserted-by":"publisher","DOI":"10.1109\/RED-UAS.2017.8101672"},{"key":"S2301385022410023BIB018","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-012-9760-z"},{"key":"S2301385022410023BIB019","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511755590"},{"key":"S2301385022410023BIB020","doi-asserted-by":"publisher","DOI":"10.1002\/9781119174882"},{"key":"S2301385022410023BIB021","volume-title":"Aircraft System Identification: Theory and Practice","volume":"2","author":"Morelli E. A.","year":"2016"},{"key":"S2301385022410023BIB022","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2014.03.003"},{"key":"S2301385022410023BIB023","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2018.2812789"},{"key":"S2301385022410023BIB024","doi-asserted-by":"publisher","DOI":"10.1109\/CCRA.2018.8588145"},{"key":"S2301385022410023BIB025","doi-asserted-by":"publisher","DOI":"10.1109\/REDUAS47371.2019.8999686"},{"key":"S2301385022410023BIB026","doi-asserted-by":"publisher","DOI":"10.1007\/s11370-018-00271-6"}],"container-title":["Unmanned Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S2301385022410023","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,9,29]],"date-time":"2022-09-29T02:47:17Z","timestamp":1664419637000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/10.1142\/S2301385022410023"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,6,8]]},"references-count":25,"journal-issue":{"issue":"04","published-print":{"date-parts":[[2022,10]]}},"alternative-id":["10.1142\/S2301385022410023"],"URL":"https:\/\/doi.org\/10.1142\/s2301385022410023","relation":{},"ISSN":["2301-3850","2301-3869"],"issn-type":[{"value":"2301-3850","type":"print"},{"value":"2301-3869","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,6,8]]}}}