A novel aerial manipulator system compensation control based on ADRC and backstepping

Abstract This paper proposes a fully-actuated control method for a novel aerial manipulation system (AMS). A customized carbon frame structure supports the servo actuators, on which eight propellers group into pairs located. We present kinematics and dynamics modeling of the AMS based on Craig param...

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Autores principales: Le Ma, Yiming Yan, Zhiwei Li, Jie Liu
Formato: article
Lenguaje:EN
Publicado: Nature Portfolio 2021
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Acceso en línea:https://doaj.org/article/89e77f5606f04844a3b0dd3ae66af170
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