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.


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    Title :

    Bidirectional Manipulation of a Buoy With a Tethered Quadrotor UAV


    Contributors:


    Publication date :

    2021-12-08


    Size :

    1698902 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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