This paper is devoted to the control of aerial robots interacting physically with objects in the environment and
with other aerial robots. The paper presents a controller for the particular case of a small‐scaled autonomous helicopter equipped with a robotic arm for aerial manipulation.
Two
types
of
influences
are
imposed
on
the
helicopter
from
a
manipulator:
coherent
and
non
‐
coherent
influence.
In
the
former
case,
the
forces
and
torques
imposed
on
the
helicopter
by
the
manipulator
change
with
frequencies
close
to
those
of
the
helicopter
movement.
The
paper
shows
that
even
small
interaction
forces
imposed
on
the
fuselage
periodically
in
proper
phase
could
yield
to
low
frequency
instabilities
and
oscillations,
so
called
phase
circle
