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In this paper, as the first step of trajectory control of aerial vehicles for live-line maintenance work, by servo valve attached to the derricking cylinder, a trajectory control method of bucket in the vertical plane is discussed. Here, we reorganized the equation of motion for the aerial vehicle and linearized the servo value by introducing the current compensation. Based on these equations, we derived the simple model of the controlled variable corresponding to the altitude of the bucket gravity center and the control rule. Simulations demonstrate that current compensation can improve the precision of trajectory control effectively, and good results can be obtained for the changing of the bucket altitude and sinusoidal reference trajectory by using the proposed method.

Trajectory Control of Aerial Vehicles for Live-line Maintenance Work (1st Report, Control of Derricking Action by the Linearization of Servo Valve)