2022 journal article

Autonomous Closed-Loop Experimental Characterization and Dynamic Model Validation of a Scaled Underwater Kite

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 144(7).

By: A. Abney n, J. Reed n, K. Naik n, S. Bryant n, D. Herbert  n, Z. Leonard n, A. Vadlamannati n, M. Mook n ...

co-author countries: United States of America πŸ‡ΊπŸ‡Έ
Source: Web Of Science
Added: June 6, 2022

Abstract This paper presents the closed-loop experimental framework and dynamic model validation for a 1/12-scale underwater kite design. The pool-based tow testing framework described herein, which involves a fully actuated, closed-loop controlled kite and flexible tether, significantly expands upon the capabilities of any previously developed open-source framework for experimental underwater kite characterization. Specifically, the framework has allowed for the validation of three closed-loop flight control strategies, along with a critical comparison between dynamic model predictions and experimental results. In this paper, we provide a detailed presentation of the experimental tow system and kite setup, describe the control algorithms implemented and tested, and quantify the level of agreement between our multi-degree-of-freedom kite dynamic model and experimental data. We also present a sensitivity analysis that helps to identify the most influential parameters to kite performance and further explain the remaining mismatches between the model and data.