The design, modelling and control of an autonomous tethered multirotor UAV

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dc.contributor.advisorTreurnicht, J.en_ZA
dc.contributor.authorIoppo, Piero Grazianoen_ZA
dc.contributor.otherStellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering.en_ZA
dc.date.accessioned2017-02-17T12:44:46Z
dc.date.accessioned2017-03-29T12:07:36Z
dc.date.available2017-02-17T12:44:46Z
dc.date.available2017-03-29T12:07:36Z
dc.date.issued2017-03
dc.descriptionThesis (MScEng)--Stellenbosch University, 2017.en_ZA
dc.description.abstractENGLISH 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.en_ZA
dc.description.abstractAFRIKAANSE OPSOMMING: Geen opsomming beskikbaaraf_ZA
dc.format.extent192 pages : illustrationsen_ZA
dc.identifier.urihttp://hdl.handle.net/10019.1/101095
dc.language.isoen_ZAen_ZA
dc.publisherStellenbosch : Stellenbosch Universityen_ZA
dc.rights.holderStellenbosch Universityen_ZA
dc.subjectUCTDen_ZA
dc.subjectTethered satellitesen_ZA
dc.subjectControl systems (Flight)en_ZA
dc.subjectDrone aircraften_ZA
dc.subjectArtificial satellitesen_ZA
dc.titleThe design, modelling and control of an autonomous tethered multirotor UAVen_ZA
dc.typeThesisen_ZA
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