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

David Nieto Hernandez (1) , Juan Antonio Escareño (2, 3) , César Fernando Méndez Barrios (1) , Silviu-Iulian Niculescu (4, 5) , Islam Boussaada (2, 4) , Emilio-Jorge González-Galván (1) , Jonatan Alvarez-Munoz (2)

1 UASLP - Facultad de Ingeniería
2 IPSA - Institut Polytechnique des Sciences Avancées
3 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
4 L2S - Laboratoire des signaux et systèmes
5 DISCO - Dynamical Interconnected Systems in COmplex Environments

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).

Mots clés: Nonlinear Control Systems; Disturbance Observers; Aerial interactivity; Autonomous Monitoring Operation

Domaines: Automatique / Robotique

David Nieto Hernandez, 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. 12th IFAC Symposium on Robot Control SYROCO 2018, Aug 2018, Budapest, Hungary. pp.318--323, ⟨10.1016/j.ifacol.2018.11.561⟩. ⟨hal-01961821⟩