  Existing studies for environment interaction with an aerial robot have been
focused on interaction with static surroundings. However, to fully explore the
concept of an aerial manipulation, interaction with moving structures should
also be considered. In this paper, a multirotor-based aerial manipulator
opening a daily-life moving structure, a hinged door, is presented. In order to
address the constrained motion of the structure and to avoid collisions during
operation, model predictive control (MPC) is applied to the derived coupled
system dynamics between the aerial manipulator and the door involving state
constraints. By implementing a constrained version of differential dynamic
programming (DDP), MPC can generate position setpoints to the disturbance
observer (DOB)-based robust controller in real-time, which is validated by our
experimental results.
