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Nonlinear control of a tethered UAV: The taut cable case.
- Source :
-
Automatica . Apr2017, Vol. 78, p174-184. 11p. - Publication Year :
- 2017
-
Abstract
- This paper focuses on the design of a stabilizing control law for an aerial vehicle physically connected to a ground station by means of a tether cable. By taking advantage of the tensile force acting along the taut cable, it is shown that the tethered UAV can maintain a non-zero attitude while hovering in a constant position. The control objective is to stabilize the desired configuration while simultaneously ensuring that the cable remains taut at all times. This leads to a nonlinear control problem subject to constraints. This paper provides a two-step solution. First, the system is stabilized using a cascade control scheme based on thrust vectoring. Then, constraint satisfaction is guaranteed using a novel Reference Governor scheme. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00051098
- Volume :
- 78
- Database :
- Academic Search Index
- Journal :
- Automatica
- Publication Type :
- Academic Journal
- Accession number :
- 121493096
- Full Text :
- https://doi.org/10.1016/j.automatica.2016.12.018