Non-holonomic flight Modeling and Control of a Tilt-rotor MAV

Abstract

The main goal of this paper is to introduce a new non-holonomic model and control of a tilt-rotor aerial robot for interactive operations via a 1DOF robotic manipulator. The modeling is derived by means of the Euler-Lagrange formulation, providing couplings between the robotic manipulator and the rotorcraft. The aerial robot is fully actuated and features thrust vector control, having a more flexible aerial profile. In terms of control, the Immersion and Invariance (I&I) control technique is applied in order to achieve the control objective (trajectory tracking). Finally, preliminary simulation results were conducted to evaluate and validate the control strategy for an interactive tilt-rotor micro aerial vehicle (MAV).