Control Design for Ceiling-perching Flying Robot with Dynamic Feedforward Compensation

When ceiling-perching flying robot switching from flight to adsorption, an external force is required to exert on the sucker to ensure a successful perching, which leads traditional PID controllers in position control to a bad control performance. We propose adding a spring between the sucker and the aircraft to get the external force during transition from flying state to perching state. By analyzing dynamic models of the spring and the ceiling-perching flying robot, we found that force control can be transformed into position control, so we design an improved position controller by integrating the traditional PID controller and feedforward compensator. The simulations show the designed controller is effective.