Browsing by Author "Ioppo, Piero Graziano"
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- ItemThe design, modelling and control of an autonomous tethered multirotor UAV(Stellenbosch : Stellenbosch University, 2017-03) Ioppo, Piero Graziano; Treurnicht, J.; Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering.ENGLISH ABSTRACT: This work details the design, modelling, control and successful demonstration of a tethered multirotor UAV system; as a rst iteration towards an alternative, and more accessible, persistent aerial platform. The project focusses speci cally on the development of appropriate modelling and ight control strategies, in addition to the development of a suitable practical testing platform. The tether model is developed based on the assumption of a quasi-static catenary, which su ciently encapsulates the dominant tether forces. The ight control strategy is catered towards the civilian landscape with a minimalist sensor con guration that aims to keep the system simple and cost-e ective. A conventional control system is initially developed for the untethered system, and thereafter adapted to cater for the unique aspects of tethered ight. The control architecture implements variations of linear PID control in a successive loop closure approach. A physical test platform is developed consisting of a 0.8m 0.8m quadrotor vehicle, modi ed to accommodate a tether. Results are presented for hardware-in-the-loop simulations as well as practical ight tests. The practical ight tests served to successfully demonstrate the developed ight control strategy, in addition to providing insight into some of the observed idiosyncrasies of tethered light.