Dynamics and Control of Cable-Drogue System in Aerial Recovery of Micro Air Vehicles Based on Gauss's Principle
aerial docking, UAV, unmanned aircraft
This paper presents a new concept for aerial recovery of Micro Air Vehicles (ARMAVs) using a large mothership and a recovery drogue. The mothership drags a drogue attached to a cable and the drogue is controlled to match the flight patten of the MAV. This paper uses Gauss’s Principle to derive the dynamic model of the cable-drogue systems. A controllable drogue plays a key role in recovering MAVs in windy conditions. We develop a control approach for the drogue using its drag coefficient. Simulation results based on multilink cable-drogue systems present the feasibility of the aerial recovery concept and the controllability of the drogue.
Original Publication Citation
Sun, L., Beard, R., Colton, M., and McLain, T. Dynamics and Control of Cable-Drogue System in Aerial Recovery of Micro Air Vehicles Based on Gauss's Principle. Proceedings of the 2009 American Control Conference, pp. 4729-4734, June 2009, St. Louis, Missouri.
BYU ScholarsArchive Citation
Sun, Liang; Beard, Randal W.; Colton, Mark B.; and McLain, Timothy W., "Dynamics and Control of Cable-Drogue System in Aerial Recovery of Micro Air Vehicles Based on Gauss's Principle" (2009). Faculty Publications. 1538.
Ira A. Fulton College of Engineering and Technology
Electrical and Computer Engineering
(c) 2009 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. DOI: 10.1109/ACC.2009.5160527
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