A simulator integrates particle-based water, aerial flight, manipulation, and animal models to train aerial-aquatic robots across air and water.
Autonomous Control of a Quadrotor-Manipulator; Application of Extended State Disturbance Observer
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abstract
In this work, the autonomous control of a quadrotor-manipulator unmanned aerial vehicle is treated using an extended dynamic model. Due to persistent aerodynamic disturbances and dynamic couplings, the control of a quadrotor-manipulator unit is cumbersome. Active disturbance rejection control (ADRC) is proposed for the cancellation of the undesirable dynamics while a PD controller is developed for set-point tracking. Parameters were tuned using Gradient Descent-Sequential Quadratic Programming in Simulink design optimization
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AAM-SEALS: Developing Aerial-Aquatic Manipulators in SEa, Air, and Land Simulator
A simulator integrates particle-based water, aerial flight, manipulation, and animal models to train aerial-aquatic robots across air and water.