A string of tethered drones - System dynamics and control

B. Kosarnovsky, S. Arogeti

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

In this paper we present a novel concept of a tethered-drones system. The system includes an arbitrary number of drones connected serially to an active ground station. The considered drones are of quadrotor type. Utilizing a unique pulley-gimbal mechanism, each drone can freely move along the tether and its position is measured with respect to the ground station without the use of standard onboard inertial sensors. The proposed system can be thought of as a robotic arm where each tether section acts as a variable-length link and each drone is a joint actuator. We model the coupled behavior of the ground station and the string, taking into account an arbitrary number of drones. Then, a controller that combines tools from geometric-control and linear-control is suggested. Finally, the concept is demonstrated using numerical simulations, which also illustrate its potential effectiveness.

Original languageEnglish
Title of host publication2019 European Conference on Mobile Robots, ECMR 2019 - Proceedings
EditorsLibor Preucil, Sven Behnke, Miroslav Kulich
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728136059
DOIs
StatePublished - 1 Sep 2019
Event2019 European Conference on Mobile Robots, ECMR 2019 - Prague, Czech Republic
Duration: 4 Sep 20196 Sep 2019

Publication series

Name2019 European Conference on Mobile Robots, ECMR 2019 - Proceedings

Conference

Conference2019 European Conference on Mobile Robots, ECMR 2019
Country/TerritoryCzech Republic
CityPrague
Period4/09/196/09/19

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Optimization
  • Mechanical Engineering

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