ICUAS'23 Paper Abstract

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Paper ThB5.2

Azaki, Zakeye (GIPSA-lab), Dumon, Jonathan (GIPSA-lab), Meslem, Nacim (GIPSA-lab), Hably, Ahmad (GIPSA-lab)

Sliding Mode Control of Tethered Drone: Take-Off and Landing under Turbulent Wind Conditions

Scheduled for presentation during the Regular Session "UAS Applications IV" (ThB5), Thursday, June 8, 2023, 11:20−11:40, Room 466

2023 International Conference on Unmanned Aircraft Systems (ICUAS), June 6-9, 2023, Lazarski University, Warsaw, Poland

This information is tentative and subject to change. Compiled on March 29, 2024

Keywords UAS Applications, Control Architectures, Airspace Control

Abstract

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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