Hybrid predictive control of a coaxial aerial robot for physical interaction through contact

• The main scenario is related to aerial inspection through contact.
• Development of a coaxial-rotor aerial robot for active physical interaction.
• Hybrid modeling that captures the free-flight and the contact/collision dynamics.
• Hybrid predictive controller for optimal free-flight and docking/sliding maneuvers.

This paper deals with the control of an unmanned coaxial helicopter designed towards active physical interaction with its environment. The system design is tailored to robust interaction through contact (e.g. docking and sliding on walls). Due to the rapid change of the dynamics from free-flight to the helicopter subject to the contact forces, a hybrid model is developed. This model captures all modes of the vehicle dynamics and is the basis for the design of a hybrid model predictive control strategy that ensures the stability of the hybrid dynamics and provides optimal maneuvering, docking on walls as well as sliding on them. The proposed control law is evaluated through experimental studies.

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