Aerial manipulation aims at combining the manoeuvrability of aerial vehicles
with the manipulation capabilities of robotic arms. This, however, comes at the
cost of the additional control complexity due to the coupling of the dynamics
of the two systems. In this paper we present a NMPC specifically designed for
MAVs equipped with a robotic arm. We formulate a hybrid control model for the
combined MAV-arm system which incorporates interaction forces acting on the end
effector. We explain the practical implementation of our algorithm and show
extensive experimental results of our custom built system performing multiple
aerial-writing tasks on a whiteboard, revealing accuracy in the order of
millimetres.