2022 年 142 巻 2 号 p. 76-85
Contact-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.
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