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

Round 1

Reviewer 1 Report

Comments and Suggestions for Authors

This paper presents a novel system for automated tree cutting. The system is well described, modeled, simulated and verified experimentally. The overall quality of this paper is high. 

Some minor adjustments are required:

Figures 11 through 24: When relevant, please use always the same notation, i.e. Xb, Yb and Zb for the airframe and Xs, Ys and Zs for the saw. Some figures use different notations. 

Figure 11: I suppose all the plot are super-impressed, I cannot distinguish between them. It would be better to find a way to highlight the small differences, e.g. by zooming a relevant part so that the reader can understand clearly where all the tracks are.

Figure 22: we see a displacement of up to 1m, is it possible or this is an error?

Figure 24: the caption is erroneously indicating 'airframe', I suppose it is 'Saw'

 

Author Response

Thank you for the editors' and reviewers' comments concerning our manuscript entitled " Control and Application of Tree Obstacle Clearing Coaxial Octocopter with Flexible Suspension Saw"(ID: drones-3059806). Please see the attachment for specific modification responses.

Author Response File: Author Response.pdf

Reviewer 2 Report

Comments and Suggestions for Authors

A Tree Obstacle Clearing Coaxial Octocopter with Flexible Suspension Saw (TOCCO-FSS) is proposed. Firstly, the overall scheme design and modeling of TOCCO- FSS was presented. The dynamic modeling of TOCCO-FSS was carried out by the Lagrange equation. Secondly, a contact operation model is proposed to estimate the uncertainties and external disturbances during the system’s motion and contact process. The Non-Singular Terminal Sliding Mode Active Disturbance Rejection Control (NTSM-ADRC) method is proposed based on the mathematical model of TOCCO-FSS.

The following sections need to be modified and improved. Firstly, the abstract and conclusion of the paper need to be further refined and revised. Secondly, there is a lack of literature introducing the current research status at home and abroad, and it is recommended to supplement and refine it. Thirdly, in the experimental section, the comparison suggestions between the algorithm proposed in this paper and other algorithms are supplemented and elaborated.

Comments on the Quality of English Language

Further modifications and improvements are suggested for the English description. The description and wording of some sentences need to be modified.

Author Response

Thank you for the editors' and reviewers' comments concerning our manuscript entitled " Control and Application of Tree Obstacle Clearing Coaxial Octocopter with Flexible Suspension Saw"(ID: drones-3059806). Please see the attachment for specific modification responses.

Author Response File: Author Response.pdf

Reviewer 3 Report

Comments and Suggestions for Authors

1. The paper introduces a novel Tree Obstacle Clearing Coaxial Octocopter with a Flexible Suspension Saw (TOCCO-FSS) aimed at addressing the challenges of clearing tree obstacles along power transmission lines. It details the design and dynamic modeling of the TOCCO-FSS using the Lagrange equation, providing a comprehensive framework for understanding the system's behavior.

2. The authors propose a Non-Singular Terminal Sliding Mode Active Disturbance Rejection Control (NTSM-ADRC) method to handle the disturbances encountered during the operation of the TOCCO-FSS. The effectiveness of the proposed control method is validated through both simulations and physical experiments, demonstrating its practical application and robustness.

3.  It will be nice to see improvements including performing comparative analysis with existing methods and incorporating more field testing results to further validate the system's reliability.

Author Response

Thank you for the editors' and reviewers' comments concerning our manuscript entitled " Control and Application of Tree Obstacle Clearing Coaxial Octocopter with Flexible Suspension Saw"(ID: drones-3059806). Please see the attachment for specific modification responses.

Author Response File: Author Response.pdf