Motion Planning for an Aerial-Towed Cable System

Williams, Paul; Sgarioto, Daniel; Trivailo, Pavel M.

doi:10.2514/6.2005-6267

Cited by 9 publications

(5 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…To the cable towed by aircraft,Huang restricted his calculations to an airborne system [2].Zhu et al recently studied the steady state response and stability of a flexible cable [3,4]. Paul Williams and his fellow use a discretized lumped mass model of the cable to anlysis the cable dynamic [5][6][7][8].…”

Section: Introductionmentioning

confidence: 99%

The Simulation of the Steady Dynamic of Trailing Antenna on an Aircraft

Zheng

Hou

Wang

et al. 2011

AMM

View full text Add to dashboard Cite

To send the very low frequency signals, the length of antenna must attend one-half of a wavelength, maybe more than 8,000 meters sometimes. And the projection of the antenna on plumb line must exceed seventy percent of the antenna’s whole length. So the dynamic character and control of trailing antenna on a aircraft is one of most inmportant problems which need to research. The steady dynamic is the base of the dynamic character and control. The mathematics model of the trailing antenna is founded,and sloved via a shooting technique. The inflences of the angle of bank and the velocity of aircraft to the the end radius and verticality are reached. The result shows:under the low drag,for certain ranges of the angle of bank and the velocity ,the equilibruim solution is multivalued.

show abstract

Section: Introductionmentioning

confidence: 99%

The Simulation of the Steady Dynamic of Trailing Antenna on an Aircraft

Zheng

Hou

Wang

et al. 2011

AMM

View full text Add to dashboard Cite

show abstract

“…Differential flatness has been used in the trajectory generation of the towed cable system in [3,6,19,27] by applying certain types of dynamic models of the cable. For the mathematical model presented in Section II, it is nontrivial to calculate the desired mothership trajectory by using differential flatness.…”

Section: Mpc Formulationmentioning

confidence: 99%

“…However, Murray's solution technique had numerical stability problems and was not further developed. A similar scheme for using differential flatness for motion planning of the mothership was discussed by Williams [27].…”

mentioning

confidence: 99%

See 1 more Smart Citation

Optimal Trajectory Generation Using Model Predictive Control for Aerially Towed Cable Systems

Sun

Hedengren

Beard

2014

Journal of Guidance, Control, and Dynamics

View full text Add to dashboard Cite

This paper studies trajectory generation for a mothership that tows a drogue using a flexible cable. The contributions of this paper include model validation for the towed cable system described by a lumped mass extensible cable using flight data, and optimal trajectory generation for the towed cable system with tension constraints using model predictive control. The optimization problem is formulated using a combination of the squared-error and L 1 -norm objective functions. Different desired circular trajectories of the towed body are used to calculate optimal trajectories for the towing vehicle subject to performance limits and wind disturbances. Trajectory generation for transitions from straight and level flight into an orbit is also presented. The computational efficiency is demonstrated, which is essential for potential real-time applications. This paper gives a framework for specifying an arbitrary flight path for the towed body by optimizing the action of the towing vehicle subject to constraints.

show abstract

“…This is the complex aerial towed-cable system model which is treated as the "truth" C560 model in this paper. Williams et al [4] gave the full treatment of the equations of motion for the flexible multi-link system. Essentially, this model employs a lumped parameter representation for the cable, whereby the cable is physically discretised using a sequence of n point masses interconnected via viscoelastic springs of unstrained length L s j , stiffness k j , and damping constant c j .…”

Section: Aerial Towed-cable System Modellingmentioning

confidence: 99%

On improving the accuracy of simple aerial towed-cable system models

Sgarioto

Williams²,

Trivailo³

2007

ANZIAMJ

View full text Add to dashboard Cite

We outline a novel procedure for improving the accuracy of a simple one-link aerial towed-cable system model. The primary objective of this work is to provide a systematic framework for matching the dynamical motion of a simple aerial towed-cable system model with that of a correspondingly more complex model. The final outcome is to achieve a compromise between a model's representativeness and the ease with which it can be used for control purposes. By modifying the cable length and the payload drag coefficient of the simple model, the equilibrium position of the cable tip may be matched analytically to that of the more complex model. The modified cable length and drag coefficient are then used in dynamic simulations and shown to dramatically improve the accuracy of the simple model.

show abstract

Motion Planning for an Aerial-Towed Cable System

Cited by 9 publications

References 14 publications

The Simulation of the Steady Dynamic of Trailing Antenna on an Aircraft

The Simulation of the Steady Dynamic of Trailing Antenna on an Aircraft

Optimal Trajectory Generation Using Model Predictive Control for Aerially Towed Cable Systems

On improving the accuracy of simple aerial towed-cable system models

Contact Info

Product

Resources

About