This paper presents a control method for a cable-suspended aerial manipulator performing high-altitude contact tasks. The target tasks include polishing and wiping on planar and curved surfaces, in which the end-effector must maintain a desired contact force while the suspended aerial manipulator remains stable against contact-induced disturbances. The proposed framework consists of a winch-based attitude and altitude controller, a propulsion controller for horizontal position and yaw stabilization, and a task-space manipulator controller with admittance-based force regulation. The winch system regulates the roll, pitch, and altitude of the platform by adjusting the cable lengths. The propulsion system counteracts horizontal disturbances through damping control, position regulation, disturbance compensation, and constrained control allocation. The manipulator generates a reference end-effector trajectory from the contact-force error along the surface-normal direction and tracks this reference using closed-loop inverse kinematics. Simulation results for side-plane, bottom-plane, side-curved, and bottom-curved contact tasks demonstrate that the proposed method maintains the desired contact force while suppressing platform displacement during contact.
