Position-based adaptive impedance control for a UAV

|In this paper, we demonstrate a force tracking impedance control of a unmanned aerial vehicle's (UAV's) end effector, which is the foundation of compliant interaction with the environment. Using proposed scheme the UAV is able to accomplish physical interaction with the environment while maintaining a stable contact force. After introducing the impedance control, we address an issue of unknown environmental parameters. Here, we introduce the adaptive control which generates the reference position required to produce the desired contact force. Finally, the performance of impedance and adaptive impedance control for the UAV is analyzed through conducted simulation experiments.