XY-plane movement control of tethered object using propellers as actuators

抄録

Recently, the devices tethered on 10m and longer string to micro unmanned aerial vehicles (MUAV) are used in sample return, remote area exploring, or transportation to remote place missions. However, because of the pendulum effect and the lack of movement dumping in the air, the tethered object starts to oscillate uncontrollably, fails to land safely and accurately, and causes failure of desired job. Furthermore, there is a risk of collision with another object near desired location. Therefore, stabilization and controlling of kinematics of a suspended object will find usage in several applications. In this paper, we analyze the problem, and describe the physical model creation and experiments made with this model.