3D Force Control of a Quadrotor subject to 2D Non-holonomic Contact with an Spherical Tip

This project studies how to create and test a three‑dimensional force‑position controller for a quadrotor that must work while in physical contact with its environment. When a quadrotor performs contact‑based tasks—such as polishing a surface or flipping a switch—it experiences high‑frequency vibrations and unwanted energy transfer because the vehicle is so light. To tackle these problems, the research models the quadrotor with a spherical tip that rolls on a surface. The rolling contact is described by two‑dimensional non‑holonomic Pfaffian constraints. A model‑free, chatter‑free sliding‑mode controller is then designed to drive the two‑dimensional tangent forces toward their desired values and keep them stable during contact. Using Lyapunov theory, the closed‑loop system

is shown to be locally exponentially stable, meaning the tracking errors shrink quickly and predictably. The work concentrates on three main areas: * writing the mathematical equations for the non‑holonomic constraints, * building the chatter‑free sliding‑mode controller, and * checking the controller’s performance with representative numerical simulations. The resulting framework offers a reliable way to reduce energy transfer at the contact point without needing complex admittance or impedance filters, which often cause tracking errors.

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