Modelling and control of tethered drone

Abstract

Consulta en la Biblioteca ETSI Industriales (Riunet)

[EN] The aim of this project was to design a position controller for a tethered hexacopter. The position of the drone was calculated by using the measures of the tether tension as well as the angle that the cable turns with respect to the ground vehicle. In order to do that, a model describing the behaviour of the wire has been calculated, under the assumption that the cable moves slow enough to consider that it is in equilibrium. Then, a point mass model has been used to describe the translational movements of the helicopter. Finally, the position controller was designed, attending the height achieved by the helicopter and the ground angle turned by the cable.