Underslung Payload Tension Control from an Autonomous Unmanned Helicopter

Abstract

A tension control algorithm for the deployment of a unmanned ground vehicle from an autonomous helicopter is designed and tested in this thesis. The physical hardware which the controller will run on is detailed. The plant model and underlying controllers are derived and modeled. The tension controller algorithm is selected, derived, and modeled. The parameters of the tension controller are chosen and simulations are run with the chosen parameters. The tension control algorithm is run on the physical hardware, successfully demonstrating tension control on a ground vehicle. Robustness simulations are run for a change in the radius of the spool and the length of the tether. Lastly, Future work is outlined on several paths to move forward with the tension controller.