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• W3182044662 abstract "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 parameter method and recursive Newton–Euler equation, respectively. Then, an Active disturbance rejection control (ADRC)–Backstepping–Compensation controller is designed to control the exact position and orientation of the manipulator in the Cartesian space. Finally, the performance of the system is demonstrated through simulations and outdoor experiments." @default.
• W3182044662 created "2021-07-19" @default.
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• W3182044662 date "2021-07-14" @default.
• W3182044662 modified "2023-10-04" @default.
• W3182044662 title "ADRC-Backstepping-Compensation Control for A Novel Aerial Manipulator System" @default.
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• W3182044662 doi "https://doi.org/10.21203/rs.3.rs-676982/v1" @default.
• W3182044662 hasPublicationYear "2021" @default.
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