Control of the position and attitude of a tethered quadrotor considering the influence of a tether

An unmanned small aircraft is expected to be applied to various applications, such as aerial photography, information gathering of disaster, transport of luggage, and inspection of infrastructure, such as bridges and tunnels. It needs to control the position of the Quadrotor, if it is used for the inspection of infrastructures, such as bridges etc. Therefore, we propose a method for controlling a Quadrotor using a tether. We have suggested in previous research a control method of the relative position of a Quadrotor to the operator using the tether, and conducted an experiment. However, influences of the tether were not considered in the model of the extended Kalman filter to estimate the state of the Quadrotor. In this paper, the dynamical model of a Quadrotor is derived so as to consider the influence of a tether, and the position and attitude control simulation is conducted.