Nonlinear control and stability analysis of a unified Tethered UAV-winder system

Autor:	Folorunsho, Samuel, Ni, Maggie, Norris, William
Rok vydání:	2024
Předmět:	Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	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. Comment: Under review with IEEE Journal of Control Systems Technology
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2412.09502 Zobrazit plný text záznamu View this record from Arxiv