  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.
