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This technical note focuses on the control of a quadrotor unmanned aerialvehicle (UAV) tethered to the ground. The control objective is to stabilize theUAV to the desired position while ensuring that the cable remains taut at alltimes. A cascade control scheme is proposed. The inner loop controls theattitude of the UAV. The outer loop gives the attitude reference to the innerloop, and is designed so that (i) the gravity force is compensated, (ii) thecable is taut at all times, and (iii) the trajectory of the UAV follows thegeodesic path. To prove asymptotic stability, small gain arguments are used.The control scheme is augmented with a reference governor to enforceconstraints.

Technical Note for "A Geodesic Approach for the Control of Tethered Quadrotors"