Modeling and PID control of tethered unmanned quadrotor helicopter

The paper presents a model of tethered unmanned quadrotor helicopter as traditional unmanned quadrotor helicopter can not continuously work for a long time because powered by batteries. To further study the system, the helicopter is modeled as a single rigid body attached to a cable which plays the role of power supply. Based on the tethered architecture a control system is built by using PID (Propotional-Integrate-Differential) controller that including an inner-loop for attitude control and an outer-loop for position control, simulation results demonstrate that the controller is very promising.