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

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 meth...

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Detalles Bibliográficos
Autores principales:	Ma, Le, Yan, Yiming, Li, Zhiwei, Liu, Jie
Formato:	Online Artículo Texto
Lenguaje:	English
Publicado:	Nature Publishing Group UK 2021
Materias:	Article
Acceso en línea:	https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8595384/ https://www.ncbi.nlm.nih.gov/pubmed/34785695 http://dx.doi.org/10.1038/s41598-021-01628-1

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