Nonlinear control and stability analysis of a unified Tethered UAV-winder system
Fuente:
arXiv
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Preprint |
| Published: |
2024
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866910743368040448 |
|---|---|
| author | Folorunsho, Samuel Ni, Maggie Norris, William |
| author_facet | Folorunsho, Samuel Ni, Maggie Norris, William |
| contents | This paper presents the development of a comprehensive dynamics and stabilizing control architecture for Tethered Unmanned Aerial Vehicle (TUAV) systems. The proposed architecture integrates both onboard and ground-based controllers, employing nonlinear backstepping control techniques to achieve asymptotic stability of the TUAV's equilibrium. The onboard controllers are responsible for the position and attitude control of the TUAV, while the ground controllers regulate the winder mechanism to maintain the desired tether length, ensuring it retains its catenary form. Simulation results demonstrate the ability of the TUAV system to accurately track linear and circular trajectories, ensuring robust performance under various operational scenarios. The code and movies demonstrating the performance of the system can be found at https://github.com/sof-danny/TUAV\_system\_control. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_09502 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Nonlinear control and stability analysis of a unified Tethered UAV-winder system Folorunsho, Samuel Ni, Maggie Norris, William Systems and Control This paper presents the development of a comprehensive dynamics and stabilizing control architecture for Tethered Unmanned Aerial Vehicle (TUAV) systems. The proposed architecture integrates both onboard and ground-based controllers, employing nonlinear backstepping control techniques to achieve asymptotic stability of the TUAV's equilibrium. The onboard controllers are responsible for the position and attitude control of the TUAV, while the ground controllers regulate the winder mechanism to maintain the desired tether length, ensuring it retains its catenary form. Simulation results demonstrate the ability of the TUAV system to accurately track linear and circular trajectories, ensuring robust performance under various operational scenarios. The code and movies demonstrating the performance of the system can be found at https://github.com/sof-danny/TUAV\_system\_control. |
| title | Nonlinear control and stability analysis of a unified Tethered UAV-winder system |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2412.09502 |