Modelling and control of a tethered drone for an AWE application

Azaki, Zakeye; Dumon, Jonathan; Meslem, Nacim; Hably, Ahmad; Susbielle, Pierre

doi:10.1109/iccad55197.2022.9853858

Cited by 2 publications

(7 citation statements)

References 11 publications

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“…In this section, we recapitulate the mathematical model of the system. The detailed derivation of this model can be found in our previous work [8] for interested readers. This simplified model has been specifically derived to design a control strategy for the take-off and landing phases of the AWE system.…”

Section: Control Inputs and Mathematical Modelmentioning

confidence: 99%

“…The inputs to the drone can be specified by the desired thrust force magnitude T d D and the desired Euler Angles Θ d . These desired values can be determined by the kinematic transformation presented in our previous work [8],…”

Section: Disturbance Estimationmentioning

confidence: 99%

“…We implement the ROS/PX4 architecture which is used in our Lab for simulation purposes. More details are described in our article [8].…”

Section: Simulation Environmentmentioning

confidence: 99%

“…In this present work, we have focused on the problem of control during the vertical take-off and landing of a dronebased Magnus system for an on-ground production application. In our previous work [8], the control strategy based on the 3D feedback linearization technique (FL-PID) has been designed to deal with a part of the system's non-linearities. On other hand, integral actions have been added in the closed loop to cope with the neglected (considered as disturbances) unknown forces.…”

Section: Introductionmentioning

confidence: 99%

“…On other hand, integral actions have been added in the closed loop to cope with the neglected (considered as disturbances) unknown forces. Although the results in [8] showed that the (FL-PID) control strategy provides good tracking performance for low and homogeneous wind speeds, however for turbulent and extreme wind speed conditions, the neglected aerodynamic forces, that was considered as disturbances, become significant and affect the desired behavior of the system. In light of this, the present paper proposes to tackle the control problem through a 3D robust Nonlinear Sliding Mode Control (SMC).…”

Section: Introductionmentioning

confidence: 99%

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Sliding Mode Control of Tethered Drone: Take-off and Landing under Turbulent Wind conditions

Azaki

Dumon

Meslem

et al. 2023

2023 International Conference on Unmanned Aircraft Systems (ICUAS)

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Tethered flight is a highly nonlinear and uncertain process that requires robust control approaches to master its operation. However, there have been only a few researches on the control of the take-off and landing phases of these systems. This paper proposes a sliding mode controller, for tethered drones, to track a desired flight trajectory. Additionally, a three-dimensional Extended Kalman filter is integrated into the control strategy to estimate and compensate for aerodynamic disturbances. Controller performance is evaluated against wind turbulence conditions and modeling uncertainties. The results are compared with those of a non-linear feedback linearization controller.

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Section: Control Inputs and Mathematical Modelmentioning

confidence: 99%

Section: Disturbance Estimationmentioning

confidence: 99%

“…We implement the ROS/PX4 architecture which is used in our Lab for simulation purposes. More details are described in our article [8].…”

Section: Simulation Environmentmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Sliding Mode Control of Tethered Drone: Take-off and Landing under Turbulent Wind conditions

Azaki

Dumon

Meslem

et al. 2023

2023 International Conference on Unmanned Aircraft Systems (ICUAS)

Self Cite

View full text Add to dashboard Cite

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Tethered Unmanned Aerial Vehicles—A Systematic Review

et al. 2023

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In recent years, there has been a remarkable surge in the development and research of tethered aerial systems, thus reflecting a growing interest in their diverse applications. Long-term missions involving aerial vehicles present significant challenges due to the limitations of current battery solutions. Tethered vehicles can circumvent such restrictions by receiving their power from an element on the ground such as a ground station or a mobile terrestrial platform. Tethered Unmanned Aerial Vehicles (UAVs) can also be applied to load transportation achieved by a single or multiple UAVs. This paper presents a comprehensive systematic literature review, with a special focus on solutions published in the last five years (2017–2022). It emphasizes the key characteristics that are capable of grouping publications by application scope, propulsion method, energy transfer solution, perception sensors, and control techniques adopted. The search was performed in six different databases, thereby resulting in 1172 unique publications, from which 182 were considered for inclusion in the data extraction phase of this review. Among the various aircraft types, multirotors emerged as the most widely used category. We also identified significant variations in the application scope of tethered UAVs, thus leading to tailored approaches for each use case, such as the fixed-wing model being predominant in the wind generation application and the lighter-than-air aircraft in the meteorology field. Notably, the classical Proportional–Integral–Derivative (PID) control scheme emerged as the predominant control methodology across the surveyed publications. Regarding energy transfer techniques, most publications did not explicitly describe their approach. However, among those that did, high-voltage DC energy transfer emerged as the preferred solution. In summary, this systematic literature review provides valuable insights into the current state of tethered aerial systems, thereby showcasing their potential as a robust and sustainable alternative to address the challenges associated with long-duration aerial missions and load transportation.

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Modelling and control of a tethered drone for an AWE application

Cited by 2 publications

References 11 publications

Sliding Mode Control of Tethered Drone: Take-off and Landing under Turbulent Wind conditions

Sliding Mode Control of Tethered Drone: Take-off and Landing under Turbulent Wind conditions

Tethered Unmanned Aerial Vehicles—A Systematic Review

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