In this paper, the problem of a marine locomotive unmanned aerial vehicle (UAV) is formulated, in which a quadrotor UAV is connected to a buoy through a cable. Controlling the proposed system is challenging due to maritime environmental disturbances, necessitating enhanced robustness for optimal performance. This work aims at designing an H∞ controller for the tethered UAV-buoy system to control the surge velocity of the buoy by manipulating the UAV’s thrust, using the mixed-sensitivity approach. We first obtain the dynamic model of the system to capture the coupling of the components, we then define the mixed-sensitivity control method, and finally design the H∞ controller. Numerical simulations demonstrate the controller’s robustness as the system reaches the desired velocity and maintains stability when subjected to disturbances and uncertainties.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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


    Contributors:


    Publication date :

    2023-12-12


    Size :

    1625152 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    TETHERED POWER GENERATING BUOY SYSTEM

    ROBERTSON TYLER / TRVALIK STEVEN / HANNON CHARLES et al. | European Patent Office | 2024

    Free access

    WAIST TETHERED BUOY ASSEMBLY

    GARBAREK CRYSTAL | European Patent Office | 2020

    Free access


    Marine Locomotion: A Tethered UAV$-$Buoy System with Surge Velocity Control

    Kourani, Ahmad / Daher, Naseem | ArXiv | 2021

    Free access