Design of a contact‐force controller including airframe's velocity and acceleration feedback controllers for one‐degree‐of‐freedom propeller‐driven systems

Abstract

AbstractContact‐force control of propeller‐driven systems achieves aerial tasks that require contact motions with objects. Conventional contact‐force controllers for propeller‐driven systems utilize a contact‐force feedback controller. Although the feedback gain should be high to achieve high target tracking performance, a high gain causes a large overshoot. This paper therefore proposes a novel contact‐force controller which utilizes an airframe's velocity and an airframe's acceleration. An estimated acceleration and an estimated velocity of the airframe are fed back to the contact‐force controller. A rotor angular velocity is utilized to estimate the acceleration. The validity of the proposed controller is verified through frequency analysis, simulation, and experiment.