Geometric Controls for a Tethered Quadrotor UAV

被引:0
|
作者
Lee, Taeyoung [1 ]
机构
[1] George Washington Univ, Mech & Aerosp Engn, Washington, DC 20052 USA
来源
2015 54TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC) | 2015年
关键词
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper deals with the dynamics and controls of a quadrotor unmanned aerial vehicle that is connected to a fixed point on the ground via a tether. Tethered quadrotors have been envisaged for long-term aerial surveillance with highspeed communications. This paper presents an intrinsic form of the dynamic model of a tethered quadrotor including the coupling between deformations of the tether and the motion of the quadrotor, and it constructs geometric control systems to asymptotically stabilize the coupled dynamics of the quadrotor and the tether. The proposed global formulation of dynamics and control also avoids complexities and singularities associated with local coordinates.
引用
收藏
页码:2749 / 2754
页数:6
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