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

Table 1

Aerial robot parameters.

Parameter	Hexarotor	Link 1	Link 2
(kg)	3.64	0.164	0.409
(kg·m^2)
(kg·m^2)
(kg·m^2)