Experimental Validation of 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 force control with the environment using them has been also studied. Conventional control systems have low control performance. In this paper, a contact force control system using a quadrotor helicopter which includes closed-loop rotor angular velocity control systems based on rotor angular acceleration control is proposed. The system achieves more accurate contact force control in 3-dimensional space. The validity of proposed control system is verified by simulation and experiment.

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