Contact Force Control of Quadrotor Based on Rotor Angular Acceleration Control

In recent years, electric helicopters are applied for many tasks due to their characteristics, and contact tasks with objects are also is expected. Although accurate angular velocity control of a rotor is required for contact force control, conventional angular velocity control systems have low robustness. A contact force control system using a quadrotor helicopter which includes rotor angular acceleration control systems in an inner loop is proposed. The system achieves accurate contact tasks in 3-dimensional space. The validity of proposed control system is verified by simulation.