TY - GEN
T1 - A string of tethered drones - System dynamics and control
AU - Kosarnovsky, B.
AU - Arogeti, S.
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/9/1
Y1 - 2019/9/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85074440813&partnerID=8YFLogxK
U2 - 10.1109/ECMR.2019.8870945
DO - 10.1109/ECMR.2019.8870945
M3 - Conference contribution
AN - SCOPUS:85074440813
T3 - 2019 European Conference on Mobile Robots, ECMR 2019 - Proceedings
BT - 2019 European Conference on Mobile Robots, ECMR 2019 - Proceedings
A2 - Preucil, Libor
A2 - Behnke, Sven
A2 - Kulich, Miroslav
PB - Institute of Electrical and Electronics Engineers
T2 - 2019 European Conference on Mobile Robots, ECMR 2019
Y2 - 4 September 2019 through 6 September 2019
ER -