Modeling and Control of an Interactive Tilt-rotor MAV for In-contact Cracks-sensing Operations

Abstract : 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).
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IFAC-PapersOnLine, Elsevier, 2018, 51 (22), pp.318--323. 〈10.1016/j.ifacol.2018.11.561〉
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https://hal.archives-ouvertes.fr/hal-01961821
Contributeur : Frédéric Davesne <>
Soumis le : jeudi 20 décembre 2018 - 11:13:08
Dernière modification le : mercredi 2 janvier 2019 - 12:55:13

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D. Nieto-Hernández, Juan Antonio Escareño, César Fernando Méndez-Barrios, Silviu-Iulian Niculescu, Islam Boussaada, et al.. Modeling and Control of an Interactive Tilt-rotor MAV for In-contact Cracks-sensing Operations. IFAC-PapersOnLine, Elsevier, 2018, 51 (22), pp.318--323. 〈10.1016/j.ifacol.2018.11.561〉. 〈hal-01961821〉

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