Abstract

This research examines the dynamics and control of an aerial robotic system to determine its feasibility and general design features. The robotic system consists of a cable driven trolley and a camera platform suspended and controlled by six cables designed in a configuration similar to the Stewart platform. The camera and trolley cables are driven through winches controlled by electric motors. An algorithm is developed based on the sliding mode approach to simultaneous control the trolley trajectory and the full three-dimensional camera linear and rotational motion. Trolley cable flexibility and fundamental vibration mode is included in the analysis though not directly controlled at this stage. Wind forces are also included in the model as unknown but bound disturbances. A working prototype of the system has also been developed and its general features are introduced in this paper.

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