Modeling and position control of tethered octocopters | Zendy

Davi Ferreira de Castro | Zendy; Igor Afonso Acampora Prado | Zendy; Mateus de Freitas Virgílio Pereira | Zendy; Davi Antônio dos Santos | Zendy; José M. Balthazar | Zendy

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Modeling and position control of tethered octocopters

Author(s) -

Davi Ferreira de Castro,

Igor Afonso Acampora Prado,

Mateus de Freitas Virgílio Pereira,

Davi Antônio dos Santos,

José M. Balthazar

Publication year - 2016

Publication title -

matec web of conferences

Language(s) - English

Resource type - Journals

eISSN - 2274-7214

pISSN - 2261-236X

DOI - 10.1051/matecconf/20168303001

Subject(s) - multirotor , position (finance) , control theory (sociology) , work (physics) , viscoelasticity , control (management) , computer science , engineering , aerospace engineering , physics , mechanical engineering , artificial intelligence , thermodynamics , finance , economics

This work presents the modeling and control of a multirotor aerial vehicle with tethered configuration. It is considered an octocopter with a saturated proportional-plus-derivative position control. A viscoelastic model is considered for the tether, which has a tension control. Numerical simulations are carried out to compare the performance of the tethred configuration with the vehicle in free flight

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