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 are presented to demonstrate the force
exertion stability and safety of the controller in cases of large disturbances