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
Résumé
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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