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The problem of how to control a quadrotor is investigated. A nonlinear model of the quadrotor is derived with Newton-Euler formulation and then simplified. With the simplified model, Linear Active Disturbance Rejection Control (LADRC) is used to control the altitude and attitude of the quadrotor. Simulations show LADRC can deal with the model uncertainty and coupling, guarantee stability, and have...
This paper describes a novel legged capsule robot, which is actuated by magnetic torque, that can move through the intestinal lumen, especially in the small intestine. The proposed capsule robot has four legs and is actuated by magnetic torque without the need for an embedded power supply such as a battery. The principle of magnetic actuation is based on a magnet configuration of an internal permanent...
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