# Stable Contact Guaranteeing Motion/Force Control for an Aerial Manipulator on an Arbitrarily Tilted Surface

arXiv: https://arxiv.org/abs/2301.08078 · HTML: https://mlsanity.com/paper/2301.08078/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 19 Jan 2023.

## Built on by (most cited first, 1 of 1)

- [FLOAT Drone: A Fully-actuated Coaxial Aerial Robot for Close-Proximity Operations](https://mlsanity.com/paper/2503.00785/) (2025)

## Abstract (arXiv)

This study aims to design a motion/force controller for an aerial manipulator which guarantees the tracking of time-varying motion/force trajectories as well as the stability during the transition between free and contact motions. To this end, we model the force exerted on the end-effector as the Kelvin-Voigt linear model and estimate its parameters by recursive least-squares estimator. Then, the gains of the disturbance-observer (DOB)-based motion/force controller are calculated based on the stability conditions considering both the model uncertainties in the dynamic equation and switching between the free and contact motions. To validate the proposed controller, we conducted the time-varying motion/force tracking experiments with different approach speeds and orientations of the surface. The results show that our controller enables the aerial manipulator to track the time-varying motion/force trajectories.