2D Taut Cable Control Of Tethered UAV

Implementation of the paper Taut Cable Control of a Tethered UAV by Marco Nicotra et al.

This paper looks into the case where the actuated winch controls the length of the rope while the UAV is in charge of keeping it taut.

Assumptions

The string is massless, inextensible and attached to the centre of mass of the UAV
The cable is taut throughout the process

${\color{white}T(t) > 0 \hspace{0.5cm} \forall t \geq0}#gh-dark-mode-only$

${T(t) > 0 \hspace{0.5cm} \forall t \geq0}#gh-light-mode-only$

${\color{white}T(t) = T(r(t),\alpha(t),\theta(t) \hspace{0.3cm}}#gh-dark-mode-only$

${T(t) = T(r(t),\alpha(t),\theta(t) \hspace{0.3cm}}#gh-light-mode-only$

${\color{white}T = mr\dot{\alpha}^{2} -mgsin\alpha sin(\alpha \theta)u_1 - m\ddot{r}}#gh-dark-mode-only$

${T = mr\dot{\alpha}^{2} -mgsin\alpha sin(\alpha \theta)u_1 - m\ddot{r}}#gh-light-mode-only$

Dynamics

Under these two assumptions, dynamics of UAV can be formulated as:

Control Objectives

Control Architecture

Results

Trajectory of UAV

Simulation