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The design, modelling and control of an autonomous tethered multirotor UAV
Thesis (MScEng)--Stellenbosch University, 2017.
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| Format: | Thesis |
| Language: | en_ZA |
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Stellenbosch : Stellenbosch University
2017
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| _version_ | 1867613805643563008 |
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| access_status_str | Open Access |
| author | Ioppo, Piero Graziano |
| author2 | Treurnicht, J. |
| author_browse | Ioppo, Piero Graziano Treurnicht, J. |
| author_facet | Treurnicht, J. Ioppo, Piero Graziano |
| author_sort | Ioppo, Piero Graziano |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University |
| description | Thesis (MScEng)--Stellenbosch University, 2017. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/101095 |
| institution | Stellenbosch University (South Africa) |
| language | en_ZA |
| last_indexed | 2026-06-10T12:41:59.323Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2017 |
| publishDateRange | 2017 |
| publishDateSort | 2017 |
| publisher | Stellenbosch : Stellenbosch University |
| publisherStr | Stellenbosch : Stellenbosch University |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/101095 The design, modelling and control of an autonomous tethered multirotor UAV Ioppo, Piero Graziano Treurnicht, J. Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering. UCTD Tethered satellites Control systems (Flight) Drone aircraft Artificial satellites Thesis (MScEng)--Stellenbosch University, 2017. ENGLISH ABSTRACT: This work details the design, modelling, control and successful demonstration of a tethered multirotor UAV system; as a rst iteration towards an alternative, and more accessible, persistent aerial platform. The project focusses speci cally on the development of appropriate modelling and ight control strategies, in addition to the development of a suitable practical testing platform. The tether model is developed based on the assumption of a quasi-static catenary, which su ciently encapsulates the dominant tether forces. The ight control strategy is catered towards the civilian landscape with a minimalist sensor con guration that aims to keep the system simple and cost-e ective. A conventional control system is initially developed for the untethered system, and thereafter adapted to cater for the unique aspects of tethered ight. The control architecture implements variations of linear PID control in a successive loop closure approach. A physical test platform is developed consisting of a 0.8m 0.8m quadrotor vehicle, modi ed to accommodate a tether. Results are presented for hardware-in-the-loop simulations as well as practical ight tests. The practical ight tests served to successfully demonstrate the developed ight control strategy, in addition to providing insight into some of the observed idiosyncrasies of tethered light. AFRIKAANSE OPSOMMING: Geen opsomming beskikbaar 2017-02-17T12:44:46Z 2017-03-29T12:07:36Z 2017-02-17T12:44:46Z 2017-03-29T12:07:36Z 2017-03 Thesis http://hdl.handle.net/10019.1/101095 en_ZA Stellenbosch University 192 pages : illustrations application/pdf Stellenbosch : Stellenbosch University |
| spellingShingle | UCTD Tethered satellites Control systems (Flight) Drone aircraft Artificial satellites Ioppo, Piero Graziano The design, modelling and control of an autonomous tethered multirotor UAV |
| title | The design, modelling and control of an autonomous tethered multirotor UAV |
| title_full | The design, modelling and control of an autonomous tethered multirotor UAV |
| title_fullStr | The design, modelling and control of an autonomous tethered multirotor UAV |
| title_full_unstemmed | The design, modelling and control of an autonomous tethered multirotor UAV |
| title_short | The design, modelling and control of an autonomous tethered multirotor UAV |
| title_sort | design modelling and control of an autonomous tethered multirotor uav |
| topic | UCTD Tethered satellites Control systems (Flight) Drone aircraft Artificial satellites |
| url | http://hdl.handle.net/10019.1/101095 |
| work_keys_str_mv | AT ioppopierograziano thedesignmodellingandcontrolofanautonomoustetheredmultirotoruav AT ioppopierograziano designmodellingandcontrolofanautonomoustetheredmultirotoruav |