TY - GEN
T1 - Control under constraints of tethered UAVs via interpolating control
AU - Glick, Tal
AU - Arogeti, Shai
N1 - Publisher Copyright: © 2019 Israel Annual Conference on Aerospace Sciences. All rights reserved.
PY - 2019/1/1
Y1 - 2019/1/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85068131076&partnerID=8YFLogxK
M3 - Conference contribution
T3 - 59th Israel Annual Conference on Aerospace Sciences, IACAS 2019
SP - 1023
EP - 1034
BT - 59th Israel Annual Conference on Aerospace Sciences, IACAS 2019
T2 - 59th Israel Annual Conference on Aerospace Sciences, IACAS 2019
Y2 - 6 March 2019 through 7 March 2019
ER -