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This paper focuses on the control of a system composed of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) which cooperate to manipulate an object. The two units are subject to actuator saturations and cooperate to move the object to a desired pose, characterized by its position and inclination. The paper proposes a control strategy where the ground vehicle is tasked to deploy the object to a certain position, whereas the aerial vehicle adjusts its inclination. The ground vehicle is governed by a saturated proportional-derivative control law. The aerial vehicle is regulated by means of a cascade control specifically designed for this problem that is able to exploit the mechanical interconnection. The stability of the overall system is proved through Input-to-State Stability and Small Gain theorem arguments. To solve the problem of constraints satisfaction, a nonlinear Reference Governor scheme is implemented. Numerical simulations are provided to demonstrate the effectiveness of the proposed method.

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This paper introduces an explicit reference governor approach for controlling time delay linear systems subject to state and input constraints. The proposed framework relies on suitable invariant sets that can be built using both Lyapunov-Razumikhin and Lyapunov-Krasovskii arguments. The proposed method is validated both numerically and experimentally using several alternative formulations.