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Nowadays, the tasks of clearing threatening tree branches are still mostly operated by hand and simple tools. Traditional structures of the multirotor aerial robot have the problem of fixed structure and limited performance, which affects the stability and efficiency of pruning operation. In this article, in order to obtain better environmental adaptability, an active deformable trees-pruning aerial robot is presented. The deformation of the aerial robot is implemented through two ways, arm telescopic and folding. In order to suppress the influence of internal and external disturbances on the system, Active Disturbance Rejection Control (ADRC) technology is adopted to build the flight controller. Firstly, active deformation aerial robot structure is given, followed by system dynamic model establishment under wind disturbance using the Newton\u2013Euler method. Also, the analysis of the gusts influence on the system is considered. Then, the active deformation aerial robot system is decoupled into a combination of six SISO systems, so that a disturbance rejection controller is designed. Finally, the expanded state observer and the nonlinear state error feedback law are used to inspect and compensate the disturbance. Simulation results of attitude and position tracking as well as the antidisturbance capability show that the active deformation aerial robot with the ADRC flight controller designed in this paper has excellent attitude control capabilities during flight and trees-pruning operation.<\/jats:p>","DOI":"10.1155\/2020\/6627339","type":"journal-article","created":{"date-parts":[[2020,12,29]],"date-time":"2020-12-29T01:05:08Z","timestamp":1609203908000},"page":"1-19","source":"Crossref","is-referenced-by-count":1,"title":["Design and Control of a Deformable Trees-Pruning Aerial Robot"],"prefix":"10.1155","volume":"2020","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8976-6832","authenticated-orcid":true,"given":"Changliang","family":"Xu","sequence":"first","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China"},{"name":"Key Laboratory of Navigation, Control and Health-Management Technologies of Advanced 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