Control and Application of Tree Obstacle-Clearing Coaxial Octocopter with Flexible Suspension Saw

Aiming at the challenges of clearing tree obstacles along power transmission lines, the control and application of a novel Tree-Obstacle Clearing Coaxial Octocopter with Flexible Suspension Saw (TOCCO-FSS) have been investigated. Firstly, an overall scheme design and modeling of the TOCCO-FSS were conducted, and dynamic modeling of the TOCCO-FSS was performed using the Lagrange equation. Secondly, to address the interference encountered during the operation, a contact operation model was established to estimate the uncertainties and external disturbances during the contact operation process. Further, the Non-Singular Terminal Sliding-Mode Active Disturbance Rejection Control (NTSM-ADRC) method was researched based on the mathematical model of the TOCCO-FSS. Finally, the performance of the controller was verified through simulations and physical experiments. The results demonstrate that the design, control, and application of the entire TOCCO-FSS system are effective.