Extended Experiments for Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot.
Marco Tognon, Andrea Testa, Enrica Rossi, Antonio Franchi · HAL (Le Centre pour la Communication Scientifique Directe) · 2016
This document is a technical attachment to [1], a paperwhich provides a study and a methodology for landing andtakeoff using a passive tether attached to the aerial platform.This document includes a proof of the flatness of the outputy_fL (in Section II) and extended results of the experimentsnot included in [1] because of page limits (in Section III).The reader interested in the analysis and control of tetheredaerial vehicles is also referred to [2], [3], where flatness,controllability and observability is studied, to [4] where thecase of a moving base is thoroughly analyzed, and to [5], [6]where the case of multiple tethered vehicles is investigated.