Control under constraints of tethered UAVs via interpolating control

Tal Glick, Shai Arogeti

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Although small unmanned aerial vehicles (UAVs) are used in various civil and military fields, there are many challenges to be solved such as long flight time, lifting heavy objects and precise position sensing indoors, where a satellite communication is not available. The concept of tethered UAVs is a relatively innovative, and it may solve some of these challenges. In this paper, the tether is utilized to sense the absolute position of the UAV, while the other side is wrapped on a spool driven by a ground DC motor. Critical physical constraints in this configuration are the demand for a positive tether tension and limited length of the tether. A control design approach known as Interpolating Control (IC) is implemented in order to solve the constrained position control problem in the set-theoretic context, and compared via simulations to Model Predictive Control (MPC) by means of dynamic performances and computational effort. The design of the controller is based on a single hybrid model, combines the dynamics of both aerial and ground subsystems. Simulations results suggest that the IC approach can serve as an alternative to the MPC approach, especially for applications of agile dynamics such as UAVs.

Original languageEnglish
Title of host publication59th Israel Annual Conference on Aerospace Sciences, IACAS 2019
PublisherIsrael Annual Conference on Aerospace Sciences
Pages1023-1034
Number of pages12
ISBN (Electronic)9781510882782
StatePublished - 1 Jan 2019
Event59th Israel Annual Conference on Aerospace Sciences, IACAS 2019 - Tel-Aviv and Haifa, Israel
Duration: 6 Mar 20197 Mar 2019

Publication series

Name59th Israel Annual Conference on Aerospace Sciences, IACAS 2019

Conference

Conference59th Israel Annual Conference on Aerospace Sciences, IACAS 2019
Country/TerritoryIsrael
CityTel-Aviv and Haifa
Period6/03/197/03/19

ASJC Scopus subject areas

  • Aerospace Engineering

Fingerprint

Dive into the research topics of 'Control under constraints of tethered UAVs via interpolating control'. Together they form a unique fingerprint.

Cite this