A Novel Aerial Manipulator with Front Cutting Effector: Modeling, Control, and Evaluation

Table 2

Controller parameters.

	Parameters
NDO	L	150	125	125	75	75	75
NFTSM	k1	20	26	35	21	24	30
	k2	1.25	1.25	1.25	1.5	2.1	1.8
	k3	5	2.5	2.5	5	2.5	2.5
	k4	5	2.5	2.5	5	2.5	2.5
		0.15	0.1	0.12	0.32	0.2	0.2
		10	10	10	4.2	44	3.5
		0.1	0.1	0.1	1.1	2.1	1.2
msat		0.3	0.3	0.3	0.5	0.5	0.5
		0.1	0.1	0.1	0.1	0.1	0.1
		0.005	0.005	0.005	0.005	0.005	0.005