An impedance force control approach to a quad-rotor System

This paper presents the novel contact force control approach to a quad-rotor system for interacting with the environment. Utilizing the powerful hovering capability of the quad-rotor system, the force in the altitude direction is regulated by realizing the impedance function. Force tracking impedance control is applied to regulate the contact force to the environment. Simulation studies of force tracking control performances are performed to evaluate the feasibility of the proposed force control task for a quad-rotor system.