{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T02:52:46Z","timestamp":1760237566066,"version":"build-2065373602"},"reference-count":38,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2020,5,26]],"date-time":"2020-05-26T00:00:00Z","timestamp":1590451200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51505031"],"award-info":[{"award-number":["51505031"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004543","name":"China Scholarship Council","doi-asserted-by":"publisher","award":["201806030063"],"award-info":[{"award-number":["201806030063"]}],"id":[{"id":"10.13039\/501100004543","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>An innovative aerial manipulator with ducted fans is proposed to achieve side-on aerial manipulation tasks in a confined environment, such as canopy sampling in dense forests. The dynamic model of the novel design is studied, and on this basis a composite controller is proposed to address the challenges of arm extension and physical interaction during the manipulation process. An adaptive controller is proposed for the aerial platform to achieve good stability and tracking performance under the manipulator motion, and an impedance controller is designed for the manipulator to ensure compliance and stability during physical contact. The experimental tests validate the effectiveness of the proposed prototype structure and controller design.<\/jats:p>","DOI":"10.3390\/s20113019","type":"journal-article","created":{"date-parts":[[2020,5,28]],"date-time":"2020-05-28T12:36:58Z","timestamp":1590669418000},"page":"3019","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Flight and Interaction Control of an Innovative Ducted Fan Aerial Manipulator"],"prefix":"10.3390","volume":"20","author":[{"given":"Yibo","family":"Zhang","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China"},{"name":"Chongqing Innovation Center, Beijing Institute of Technology, Chongqing 401147, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bin","family":"Xu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China"},{"name":"Chongqing Innovation Center, Beijing Institute of Technology, Chongqing 401147, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Changle","family":"Xiang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China"},{"name":"Chongqing Innovation Center, Beijing Institute of Technology, Chongqing 401147, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wei","family":"Fan","sequence":"additional","affiliation":[{"name":"School of Automation, Beijing Institute of Technology, Beijing 100081, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tianfu","family":"Ai","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,5,26]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Mastelic, T., Lorincz, J., Ivandic, I., and Boban, M. 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