Dynamical Modelling and Robust Control for an Unmanned Aerial Robot Using Hexarotor with 2-DOF Manipulator

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static-preview.hindawi.com/articles/ijae/volume-2019/5483073/figures/5483073.fig.0017a.svgz" name="5483073.fig.0017a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Torque of joint 1</td></tr><tr class="fig-image" id="b"><td><object data="https://static-preview.hindawi.com/articles/ijae/volume-2019/5483073/figures/5483073.fig.0017b.svgz" name="5483073.fig.0017b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Torque of joint 2</td></tr></table>

<div>Joints of the manipulator in time history.</div>

International Journal of Aerospace Engineering

fig17

Figure 17

Figure 17: Dynamical Modelling and Robust Control for an Unmanned Aerial Robot Using Hexarotor with 2-DOF Manipulator 