Contact force control of tilt-rotor helicopter in 2-dimensional space

Contact force control of a helicopter allows for achieving aerial tasks that require contact motions with objects. Although force control systems for multi-rotor helicopter whose tilt angle is not variable have been already achieved, force control systems for a multi-rotor helicopter whose tilt angle is variable (tilt-rotor helicopter) have not been achieved yet. Therefore, in this paper, a contact force control system for a fully-actuated 3 degrees-of-freedom (DoF) tilt-rotor helicopter is proposed, and its validity is verified by simulations and experiments.

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