View License

Download apps, toolboxes, and other File Exchange content using Add-On Explorer in MATLAB.

» Watch video

Highlights from
Aerial Recovery Concept Demo (Gauss's Principle)

5.0 | 4 ratings Rate this file 10 Downloads (last 30 days) File Size: 34.7 KB File ID: #40561 Version: 1.2
image thumbnail

Aerial Recovery Concept Demo (Gauss's Principle)


Liang Sun (view profile)


28 Feb 2013 (Updated )

Demonstrate the concept of aerial recovery of miniature aerial vehicles using a towed-cable system.

| Watch this File

File Information

The towing vehicle (mothership) is commanded to follow a circular orbit that results a circular orbit of the towed body (drogue) with smaller radius and lower velocity relative to the mothership. The miniature aerial vehicle (MAV), which is to be retrieved, is regulated to follow the drogue orbit and to approach the drogue with a relatively low airspeed. After the MAV dock on the drogue, the towed cable and bodies (both drogue and MAV) are reeled into the mothership to complete the aerial recovery.
In this demo, Gauss’s Principle is used to derive the dynamic model of the cable-drogue system. The MAV uses missile guidance strategies to intercept the drogue.
For more information see:

Sun, L., Beard, R. W., and Colton, M. B., McLain, T. W., “Dynamics and Control of Cable-drogue System in Aerial Recovery of Micro Air Vehicles Based on Gauss’s Principle.” St. Louis, MO, USA: American Control Conference, June 2009, pp. 4729–4734.

Colton, M. B., Sun, L., Carlson, D. C., and Beard, R. W., "Multi-vehicle Dynamics and Control for Aerial Recovery of Micro Air Vehicles", Int. J. Vehicle Autonomous Systems, Vol. 9, 2011, pp. 78-107.

Required Products Simulink
MATLAB release MATLAB 8.5 (R2015a)
MATLAB Search Path
Tags for This File   Please login to tag files.
Please login to add a comment or rating.
Comments and Ratings (5)
10 May 2015 Rocky Lu

10 May 2015 Rocky Lu

16 Nov 2014 Liang Sun

Liang Sun (view profile)

Kinematic models are used for both the MAV and mothership "dynamics", so aerodynamic coefficients and stability derivatives are not considered in this simulation.

Comment only
14 Jul 2014 Gauti

Gauti (view profile)

Thank you very much :) helped me a lot.
I have a doubt... While modelling MAV dynamics or the mothership dynamics.. aerodynamic coefficients and stability derivatives should be considered? Which is the UAV that has been considered in the model.

Thank You

01 Mar 2013 John Hedengren

John Hedengren (view profile)

04 Mar 2013 1.1

Adding the related publications with this application.

05 Mar 2013 1.2

Update the description of the file.

05 Oct 2015 1.2

Fixed a problem of running the simulation in MATLAB/Simulink after version 2014a.

Contact us