Modeling and Control of an Interactive Tilt-rotor MAV for In-contact Cracks-sensing Operations
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This paper presents the dynamical model of an interactive Tilt-rotor MAV with friction forces as a disturbance. Such a model is derived by means of the Euler-Lagrange formalism and considers the effects of the friction at the 1DOF robotic manipulator (modeled as a mass-spring-damper system). In order to guarantee the closed-loop system stability, both control scheme and observer are designed following the Immersion and Invariance approach, where the main goal of the controller is to achieve a tracking task. Finally, some numerical examples have been considered in order to evaluate and validate the control strategy and the observer for an interactive tilt-rotor micro aerial vehicle (MAV). © 2018
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Aerial interactivity; Autonomous Monitoring Operation; Disturbance Observers; Nonlinear Control Systems Antennas; Closed loop systems; Friction; Manipulators; Micro air vehicle (MAV); Nonlinear control systems; System stability; Autonomous monitoring; Disturbance observer; Euler-Lagrange formalism; Immersion and invariances; Interactivity; Mass-spring-damper system; Micro aerial vehicle; Robotic manipulators; Aircraft control
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