# 2D Taut Cable Control Of Tethered UAV ReadME

###### tags: `Github README`

Implementation of the paper [Taut Cable Control of a Tethered UAV](https://folk.ntnu.no/skoge/prost/proceedings/ifac2014/media/files/2581.pdf) 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.


### Assumptions
- The string is massless, inextensible and attached to the centre of mass of the UAV
- The cable is taut throughout the process

$T(t) > 0 \hspace{0.5cm} \forall t \geq0$
$T(t) = T(r(t),\alpha(t),\theta(t) \hspace{0.3cm}is$
$T = mr\dot{\alpha}^{2} -mgsin\alpha + sin(\alpha + \theta)u_1 - m\ddot{r}$

### Dynamics
Under these two assumptions, dynamics of UAV can be formulated as:

### Control Objectives

### Control Architecture

### Results