Model Predictive Control for an Aerial Tree-Pruning Robot Based on Alternating Direction Method of Multipliers

Table 1

Simulation parameters of the tree-pruning robot system.

Symbols	Descriptions	Values
	The mass of the robot
	Moment of inertia about Ox axis
	Moment of inertia about Oy axis
	Moment of inertia about Oz axis
	Acceleration of gravity
	Lift coefficient
	Antitorque coefficient
	Gyro moment coefficient
	Air density
	Coefficient of air resistance