NDLI: On the Use of Tethered Configurations for Augmenting Hovering Stability in Small-size Autonomous Helicopters

Content Provider	Springer Nature Link
Author	Ollero, Anibal Bejar, Manuel Kondak, Konstantin Sandi, Luis A.
Copyright Year	2012
Abstract	Helicopters are well-known by their hovering capabilities. However, the performance of this valuable feature can be seriously affected by external disturbances such as wind effects. The latter could be even more significant when dealing with small-size helicopters, which are commonly adopted as base platforms for developing unmanned aerial vehicles. Motivated by this context, this work proposes an augmented configuration for performing more stable hovering maneuvers that consists of the unmanned helicopter itself, a tether connecting the helicopter to the ground, and a device on ground adjusting the tether tension. A modeling analysis on the inherent benefits to the proposed configuration as well as the control guidelines to exploit such potentialities are presented in this paper. As a proof a concept, a first basic implementation of the control structure for the entire system is also included. Finally, several demonstrating simulations under artificially generated wind influences are presented to endorse the validity of the proposed approach.
Ending Page	525
Page Count	17
Starting Page	509
File Format	PDF
ISSN	09210296
e-ISSN	15730409
Journal	Journal of Intelligent & Robotic Systems
Issue Number	1-4
Volume Number	70
Language	English
Publisher	Springer Netherlands
Publisher Date	2012-08-09
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Helicopter Applications Stability augmentation Modeling Automated systems (robots, etc.) Control Tethered systems Control, Robotics, Mechatronics Artificial Intelligence (incl. Robotics) Unmanned aerial vehicles Mechanical Engineering Nonlinear systems Electrical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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