Control and cable deployment of a tethered PVTOL aircraft

Valerio, Carlos G.; Espinoza, Eduardo S.; Lozano, Rogelio

doi:10.1109/cce53527.2021.9633048

Cited by 1 publication

(2 citation statements)

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“…However, a disadvantage of the taut cable case is that the generated tension due to traction directly affects the vehicle's payload capability, decreasing it significantly. A solution to avoid such a high tension is to leave the cable with a slight extra length, allowing it to hang loosely [19,20]. Having the cable slack can affect the vehicle dynamics due to the vibration behavior of the cable.…”

Section: Related Workmentioning

confidence: 99%

“…At the outermost loop, a reference generator computes the next x and y references for each vehicle, and then a position controller is used to transform the generated references into suitable command velocities which are finally sent to each UAV. The position controller shown in Figure 5 is chosen as a PI plus tension compensator controller, Equation (20). The generated references are under the integral term of this controller:…”

Section: Multi-agent Controllermentioning

confidence: 99%

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Reference Generator for a System of Multiple Tethered Unmanned Aerial Vehicles

Valerio

Aguillón

Espinoza

et al. 2022

Drones

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This paper deals with the references generation for a team of unmanned aerial vehicles tethered to a ground station for inspection applications. In order to deploy the team of vehicles in a suitable location to cover the largest area, each vehicle is commanded to securely navigate in an area of interest while it is tethered to another vehicle or to a ground station. To generate the corresponding reference for each vehicle, we used a model predictive controller, which optimizes the desired trajectory based on the mission-defined constraints. To validate the effectiveness of the proposed strategy, we conducted a simulation and experimental tests with a team of consumer unmanned aerial vehicles tethered to a ground station.

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Section: Related Workmentioning

confidence: 99%

Section: Multi-agent Controllermentioning

confidence: 99%