Implementation of the paper Taut Cable Control of a Tethered UAV by Marco Nicotra et al.
This paper looks into the case where the actuated winch controls the length of the rope while the UAV is in charge of keeping it taut.
- The string is massless, inextensible and attached to the centre of mass of the UAV
- The cable is taut throughout the process
Under these two assumptions, dynamics of UAV can be formulated as:
Trajectory of UAV
Simulation
