Event

Comparative Study of Dual Controllers for Hovering of a Quadrotor with Robotic Arm

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Sandesh Thapa published a paper that implements and compares two controllers—Cartesian impedance control and adaptive sliding mode control—for a quadrotor equipped with a two-degree-of-freedom robotic arm that can physically interact with the environment. The two controllers perform a simple hovering task under bounded disturbances with identical initial conditions and target positions, and are validated based on a complete dynamic model. The paper does not provide comparative conclusions between the two controllers in the available material.