Offshore Unmanned aerial vehicles (UAVs) are finding new applications. In this work, we upgrade the control system of an original robotic system consisting of a marine locomotive quadrotor UAV that manipulates the velocity of a floating buoy by means of a cable. The proposed upgrade is a step toward a real-life implementation of the robotic system and allows it to maintain stability when the tether is slack. The contribution of this work includes defining the full spectrum of the UAV-buoy system's operational modes, design a polar UAV-buoy relative position controller, and a state-machine that allows the smooth manipulation of the buoy in different directions and even to stop the manipulation of the buoy. This results in a full controller of the system in all of its operating modes, as demonstrated via numerical simulations in wave-free and wavy seas.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Bidirectional Manipulation of a Buoy With a Tethered Quadrotor UAV


    Beteiligte:
    Kourani, Ahmad (Autor:in) / Daher, Naseem (Autor:in)


    Erscheinungsdatum :

    08.12.2021


    Format / Umfang :

    1698902 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    WAIST TETHERED BUOY ASSEMBLY

    GARBAREK CRYSTAL | Europäisches Patentamt | 2020

    Freier Zugriff

    TETHERED POWER GENERATING BUOY SYSTEM

    ROBERTSON TYLER / TRVALIK STEVEN / HANNON CHARLES et al. | Europäisches Patentamt | 2024

    Freier Zugriff


    SELF-PROPELLED ROBOTIC SWIMMING POOL CLEANER WITH RETRACTABLY TETHERED FLOATING BUOY

    HANAN ETHAN / DURVASULA KAMESHWAR | Europäisches Patentamt | 2017

    Freier Zugriff

    Mixed-Sensitivity Controller Design for a Tethered UAV-buoy System

    Saliba, Amanda Lynn / Daher, Naseem | IEEE | 2023