The Contact Force Control using UAV based on Sliding Mode Control
Yuki Nishii, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2019
Contact force control of a UAV allows for achieving aerial tasks that require contact motions with objects. Force control systems for a multi-rotor UAV whose tilt angle is not variable have been achieved. Although invariable tilt angle structure is simple, the UAVs can not change their thrust direction quickly. Hence, to improve performance, a multi-rotor UAV whose tilt angle is variable (tilt-rotor UAV) have been proposed. However, this research has not guaranteed its stability. Therefore, in this paper, force and position control system for tilt-rotor UAV is designed by sliding mode control, and evaluates its stability using Lyapunov stability analysis. Lastly an operation confirmation of this method is done by simulation.