ARSS: a novel aerial robot performs tree pruning tasks

DOI10.1155/2020/8883655MaRDI QIDQ2213428zbMATH OpenOpenAlexFDO

Authors Hao Xu, Zhong Yang, Le Chang, Kaiwen Lu, Changliang Xu, Qiuyan Zhang

Publication date 1 December 2020

Published in Discrete Dynamics in Nature and Society (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2020/8883655

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Asymptotic stability in control theory (93D20)

Review text

Summary: In this article, we present a novel aerial robot with a suspended saw (ARSS) for pruning trees that are close to electric power lines. The Robot's movement process includes free flight and aerial pruning. We first established a dynamic model and designed a controller based on the Active Disturbance Rejection Control (ADRC) on the model. Aiming at the problem of saw swing and residual oscillation during the free flight movement, we adopt the linear state feedback to design a swing angle controller. Finally, we use Matlab/Simulink and CoppeliaSim for simulation, and the simulation results verify the effectiveness and feasibility of the controller.

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Cites work

• On the convergence of an extended state observer for nonlinear systems with uncertainty

Cited in

(2)

• Characteristics of a Mower Robot with Swing Mower Mechanism by Simulation
• Alternating-direction-method-of-multipliers-based fast model predictive control for an aerial trees-pruning robot

Describes a project that uses

Uses Software

• Simulink
• CoppeliaSim

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