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.

中文翻译：

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ARSS：一种新型的空中机器人执行树木修剪任务

在本文中，我们介绍了一种新型的带有悬挂锯（ARSS）的空中机器人，用于修剪靠近电力线的树木。机器人的运动过程包括自由飞行和空中修剪。我们首先建立了一个动态模型，并基于该模型上的主动干扰抑制控制（ADRC）设计了一个控制器。针对自由飞行过程中的锯片摆动和残余摆动问题，我们采用线性状态反馈设计了摆动角度控制器。最后，我们使用Matlab / Simulink和CoppeliaSim进行仿真，仿真结果验证了该控制器的有效性和可行性。