Extended Experiments for Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot. Technical Attachment to: M. Tognon, A. Testa, E. Rossi and A. Franchi " Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot " published in the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems Daejeon, South Korea, Oct. 2016

Marco Tognon (1) , Andrea Testa (2) , Enrica Rossi (1) , Antonio Franchi (1)

1 LAAS-RIS - Équipe Robotique et InteractionS
2 Università del Salento [Lecce]

This document is a technical attachment to [1], a paper which provides a study and a methodology for landing and takeoff using a passive tether attached to the aerial platform. This document includes a proof of the flatness of the output y_fL (in Section II) and extended results of the experiments not included in [1] because of page limits (in Section III). The reader interested in the analysis and control of tethered aerial vehicles is also referred to [2], [3], where flatness, controllability and observability is studied, to [4] where the case of a moving base is thoroughly analyzed, and to [5], [6] where the case of multiple tethered vehicles is investigated.

Domaines: Robotique [cs.RO]; Systèmes et contrôle [cs.SY]

Marco Tognon, Andrea Testa, Enrica Rossi, Antonio Franchi. Extended Experiments for Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot. Technical Attachment to: M. Tognon, A. Testa, E. Rossi and A. Franchi " Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot " published in the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems Daejeon, South Korea, Oct. 2016. [Research Report] LAAS-CNRS; Department of Engineering, Universitá del Salento. 2016. ⟨hal-01349743v1⟩