Aerial physical interaction is a promising field for unmanned aerial vehicles in future applications. This paper presents a novel paradigm for automatic aerial contact-based sliding interaction (inspection/cleaning) tasks in aerial robotics allowing a 3D force with a constant norm to be applied on generic surfaces with unknown geometry. The interaction task is achieved by a fully-actuated hexarotor equipped with a rigidly attached end-effector under a passivity-based geometric impedance controller and a new sliding-mode extended state observer to estimate the interaction wrench. In order to increase the observer performance and reduce the estimation chattering phenomenon, the observer is innovatively incorporated with a super-twisting algorithm and a sigmoid function with a switching gain being adaptively updated by a fuzzy logic system. A detailed stability analysis for the observer is presented based on the Lyapunov stability theory. The proposed control approach is validated in several simulations in which we try to accomplish the aerial physical sliding interaction task with different types of objects under various sliding speeds.

空中物理交互是无人机在未来应用中的一个有前途的领域。本文提出了一种用于航空机器人中基于自动空中接触的滑动交互（检查/清洁）任务的新范例，允许将具有恒定范数的 3D 力应用于具有未知几何形状的通用表面。交互任务是通过配备刚性连接的末端执行器的全驱动六转子在基于被动的几何阻抗控制器和新的滑模扩展状态观察器来估计交互扳手来实现的。为了提高观测器性能，减少估计抖动现象，观测器创新性地结合了超扭曲算法和Sigmoid函数，开关增益通过模糊逻辑系统自适应更新。基于李雅普诺夫稳定性理论对观测器进行了详细的稳定性分析。所提出的控制方法在多次模拟中得到验证，其中我们尝试在不同的滑动速度下完成与不同类型物体的空中物理滑动交互任务。