Extended Experiments for Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot.

Marco Tognon 1 Andrea Testa 2 Enrica Rossi 1 Antonio Franchi 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
Abstract : 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.
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Submitted on : Wednesday, August 17, 2016 - 12:30:06 PM
Last modification on : Friday, June 14, 2019 - 6:31:13 PM
Long-term archiving on : Friday, November 18, 2016 - 11:56:25 AM

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Marco Tognon, Andrea Testa, Enrica Rossi, Antonio Franchi. Extended Experiments for Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot. . 2016. ⟨hal-01349743v2⟩

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