Abstract
Helicopters are well-known by their hovering and vertical take-off and landing capabilities. However, the performance of the valuable feature of hovering can be seriously affected by external disturbances such as wind effect. The latter could be even more significant when dealing with small-size helicopters, which are commonly adopted as base platforms for developing unmanned aerial vehicles. In order to address the aforementioned instabilities in hovering maneuvers, it is possible to use an augmented configuration that consists of the unmanned helicopter itself, a tether connecting the helicopter to the ground, and a system in charge of adjusting the tether tension. In this paper, in addition to a detailed model of the system, an analysis on the inherent benefits to the augmented configuration is presented, as well as a general scheme for control design. By way of illustration of previous ideas, several simulations under artificially generated wind influences are presented and compared.
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