| Issue |
MATEC Web Conf.
Volume 83, 2016
CSNDD 2016 - International Conference on Structural Nonlinear Dynamics and Diagnosis
|
|
|---|---|---|
| Article Number | 03001 | |
| Number of page(s) | 4 | |
| Section | Mechanical, aeronautic, aerospace and naval structures | |
| DOI | https://doi.org/10.1051/matecconf/20168303001 | |
| Published online | 16 November 2016 | |
Modeling and position control of tethered octocopters
Aeronautics Institute of Technology, ITA, Brazil
a e-mail: davifc@ita.br
b e-mail: igorap@ita.br
c e-mail: mateusfvp@hotmail.com
d e-mail: davists@ita.br
e e-mail: jmbaltha@ita.br
This work presents the modeling and control of a multirotor aerial vehicle with tethered configuration. It is considered an octocopter with a saturated proportional-plus-derivative position control. A viscoelastic model is considered for the tether, which has a tension control. Numerical simulations are carried out to compare the performance of the tethred configuration with the vehicle in free flight.
© The Authors, published by EDP Sciences, 2016
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.
Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.
Initial download of the metrics may take a while.