@article{reed_naik_abney_herbert_fine_vadlamannati_morris_taylor_muglia_granlund_et al._2024, title={Experimental Validation of an Iterative Learning-Based Flight Trajectory Optimizer for an Underwater Kite}, volume={32}, ISSN={["1558-0865"]}, url={https://doi.org/10.1109/TCST.2024.3359891}, DOI={10.1109/TCST.2024.3359891}, abstractNote={In this work, we present an iterative learning strategy and experimental validation thereof for optimizing the flight trajectory of an underwater kite. The methodology is adapted to two different power generation configurations. The iterative learning algorithm consists of two main steps, which are executed at each iteration. In the first step, a meta-model is updated using a recursive least squares (RLS) estimate to capture an economic performance index as a function of a set of basis parameters that define the flight trajectory. The second step is an iterative learning update using information from past cycles to update basis parameters at future cycles using a gradient ascent formulation. This algorithm was experimentally validated on a scaled experimental prototype underwater kite system towed behind a test vessel in Lake Norman, North Carolina. Using our experimental system and algorithm, we were able to increase the kite’s mechanical power generation by an average of 24.4% across the tests performed.}, number={4}, journal={IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY}, author={Reed, James and Naik, Kartik and Abney, Andrew and Herbert, Dillon and Fine, Jacob and Vadlamannati, Ashwin and Morris, James and Taylor, Trip and Muglia, Michael and Granlund, Kenneth and et al.}, year={2024}, month={Jul}, pages={1240–1253} }
 @article{abney_reed_naik_bryant_herbert_leonard_vadlamannati_mook_beknalkar_alvarez_et al._2022, title={Autonomous Closed-Loop Experimental Characterization and Dynamic Model Validation of a Scaled Underwater Kite}, volume={144}, ISSN={["1528-9028"]}, DOI={10.1115/1.4054141}, abstractNote={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.}, number={7}, journal={JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME}, author={Abney, Andrew and Reed, James and Naik, Kartik and Bryant, Samuel and Herbert, Dillon and Leonard, Zak and Vadlamannati, Ashwin and Mook, Mariah and Beknalkar, Sumedh and Alvarez, Miguel and et al.}, year={2022}, month={Jul} }