2024/12/12 by Samuel O. Folorunsho, Folorunsho, Samuel, Minghui Ni +3
Computer Science · Engineering · #Control and Dynamics of Mobile Robots #Distributed Control Multi-Agent Systems #FOS: Electrical engineering #Robotic Path Planning Algorithms #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2412.09502
openalex publication_date 2024/12/12 · openalex created_date 2024/12/14 · openalex updated_date 2026/07/28
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.