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dc.contributor.advisorJonathan P. How.en_US
dc.contributor.authorKlinker, Michael Ren_US
dc.contributor.otherMassachusetts Institute of Technology. Department of Aeronautics and Astronautics.en_US
dc.date.accessioned2016-12-05T19:55:16Z
dc.date.available2016-12-05T19:55:16Z
dc.date.copyright2016en_US
dc.date.issued2016en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/105620
dc.descriptionThesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2016.en_US
dc.descriptionCataloged from PDF version of thesis.en_US
dc.descriptionIncludes bibliographical references (pages 143-144).en_US
dc.description.abstractIn recent years, the aerospace community has seen a rise in the popularity of multirotor unmanned aircraft. This increase in popularity is in part due to the ability of a multirotor aircraft to hover, its simple dynamics, and its mechanical simplicity. Operating these unmanned aircraft indoors or outdoors is a well understood challenge, however these aircraft have predominantly been operated in an unconstrained area. This thesis investigates how to control a multirotor aircraft in a constrained environment, such as on the end of a tether. A position controller is presented for a multirotor UAV operating on the end of a fixed length, tensioned tether in spherical coordinates, which utilizes the vehicles relative position and tether dynamics to calculate control inputs and ensure flight stability. The proposed position controller was put through a series of verification and validation tests using both a simulated tether-aircraft system, as well as a quadrotor flown in the RAVEN indoor flight space in the MIT Aerospace Controls Laboratory. During simulated flight testing the spherical position controller showed a 35.7% decrease in tether tension, and during indoor flight testing the spherical position controller exhibited an 8.4% decrease in power consumption over the traditional Cartesian position controller while operating on the end of a fixed length tether.en_US
dc.description.statementofresponsibilityby Michael R. Klinker.en_US
dc.format.extent144 pagesen_US
dc.language.isoengen_US
dc.publisherMassachusetts Institute of Technologyen_US
dc.rightsM.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.en_US
dc.rights.urihttp://dspace.mit.edu/handle/1721.1/7582en_US
dc.subjectAeronautics and Astronautics.en_US
dc.titleTethered UAV Flight using a spherical position controlleren_US
dc.title.alternativeTethered unmanned aerial vehicle flight using a spherical position controlleren_US
dc.typeThesisen_US
dc.description.degreeS.M.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Aeronautics and Astronautics
dc.identifier.oclc962735321en_US


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