This article studies the problem of applying normal forces on a surface, using an underactuated aerial vehicle equipped with a dexterous robotic arm. A force-motion high-level controller is designed based on a Lyapunov function encompassing alignment and exerted force errors. This controller is coupled with a Control Barrier Function constraint under an optimization scheme using Quadratic Programming. This aims to enforce a prescribed relationship between the approaching motion for the end-effector and its alignment with the surface, thus ensuring safe operation. An adaptive low-level controller is devised for the aerial vehicle, capable of tracking velocity commands generated by the high-level controller. Simulations and experiments are presented to demonstrate the force exertion stability and safety of the controller in cases of large disturbances.

翻译：本文研究了利用配备灵巧机械臂的欠驱动飞行器在表面施加法向力的问题。基于包含对齐误差和施加力误差的李雅普诺夫函数，设计了一种力-运动高层控制器。该控制器与采用二次规划优化方案的控制障碍函数约束相结合，旨在强制实现末端执行器接近运动与其表面对齐之间的预定关系，从而确保安全操作。针对飞行器设计了一种自适应底层控制器，能够跟踪高层控制器生成的速度指令。通过仿真和实验，展示了该控制器在大扰动情况下施加力的稳定性与安全性。