摘要：AbstractThis 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).
关键词：KeywordsAerial interactivityAutonomous Monitoring OperationDisturbance ObserversNonlinear Control Systems
