クアッドティルトロータ機の地面との接触力制御

抄録

Contact force control of a multi-rotor helicopter allows for achieving aerial tasks that require contact motions with objects．A quadrotor helicopter control system is an underactuated system．It is necessary to tilt the attitude angle of the quad rotor，when the quad rotor exerts thrust in the horizontal direction with respect to the ground. Therefore, there is a problem that the response of the quadrotor contact force control system is slow．In this paper，a contact force control system for a fully-actuated 8 degrees-of-freedom quad tilt-rotor is proposed，and its validity is verified by simulations．