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The research on aerial manipulation systems has been increased rapidly inrecent years. These systems are very attractive for a wide range ofapplications due to their unique features. However, dynamics, control andmanipulation tasks of such systems are quite challenging because they arenaturally unstable, have very fast dynamics, have strong nonlinearities, arevery susceptible to parameters variations due to carrying a payload besides theexternal disturbances, and have complex inverse kinematics. In addition, themanipulation tasks require estimating (applying) a certain force of (at) theend-effector as well as the accurate positioning of it. Thus, in this article,a robust force estimation and impedance control scheme is proposed to addressthese issues. The robustness is achieved based on the Disturbance Observer(DOb) technique. Then, a tracking and performance low computational linearcontroller is used. For teleoperation purpose, the contact force needs to beidentified. However, the current developed techniques for force estimation havelimitations because they are based on ignoring some dynamics and/or requiringof an indicator of the environment contact. Unlike these techniques, we proposea technique based on linearization capabilities of DOb and a Fast TrackingRecursive Least Squares (FTRLS) algorithm. The complex inverse kinematicsproblem of such a system is solved by a Jacobin based algorithm. The stabilityanalysis of the proposed scheme is presented. The algorithm is tested toachieve tracking of task space reference trajectories besides the impedancecontrol. The efficiency of the proposed technique is enlightened via numericalsimulation.

Quadrotor Manipulation System: Development of a Robust Contact Force Estimation and Impedance Control Scheme Based on DOb and FTRLS