The Power-over-Tether system for powering small UAVs: Tethering-line tension control synthesis

Lida Zikou, Christos Papachristos, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Within this work, a system for remote powering of small-scale hovering Unmanned Aerial Vehicles is developed, aiming to achieve prolonged-endurance flight times in order to address possible civilian applications with such requirements. To this purpose, the key-concept of a Power-over-Tether system is proposed, with the power bank for the UAV's operation located on the ground, and power transferred via a tethering cable. In order for the UAV to be capable of executing hovering trajectories as freely as possible, a long power cable is wound onto a custom-developed base, which is capable of releasing and retracting it when necessary. The Power-over-Tether system base is developed to operate autonomously, locally sensing when the aerial vehicle requires additional length of free cable to move to its intended goal, or when excessive cable length requires retraction, and performs the respective actions. The complete implementation of the system, both hardware and control-wise is elaborated in detail within the scope of this paper. Additionally, experimental evaluation studies are conducted, demonstrating the potential of the proposed Power-over-Tether system.

Original languageEnglish (US)
Title of host publication2015 23rd Mediterranean Conference on Control and Automation, MED 2015 - Conference Proceedings
EditorsVictor Munoz, Joseba Quevedo, Jorge L. Martinez, Jesus Morales
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages681-687
Number of pages7
ISBN (Electronic)9781479999361
DOIs
StatePublished - Jul 14 2015
Event23rd Mediterranean Conference on Control and Automation, MED 2015 - Torremolinos, Spain
Duration: Jun 16 2015Jun 19 2015

Publication series

Name2015 23rd Mediterranean Conference on Control and Automation, MED 2015 - Conference Proceedings

Other

Other23rd Mediterranean Conference on Control and Automation, MED 2015
CountrySpain
CityTorremolinos
Period6/16/156/19/15

Keywords

  • Cable Tension Control
  • Power over Tether
  • Remote Powering
  • Tethered Flight
  • Unmanned Aerial Vehicles

ASJC Scopus subject areas

  • Control and Optimization
  • Control and Systems Engineering

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  • Cite this

    Zikou, L., Papachristos, C., & Tzes, A. (2015). The Power-over-Tether system for powering small UAVs: Tethering-line tension control synthesis. In V. Munoz, J. Quevedo, J. L. Martinez, & J. Morales (Eds.), 2015 23rd Mediterranean Conference on Control and Automation, MED 2015 - Conference Proceedings (pp. 681-687). [7158825] (2015 23rd Mediterranean Conference on Control and Automation, MED 2015 - Conference Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MED.2015.7158825