@article{fine_newell_govindarajan_mcguire_paris_matthias_maceda_baxter_granlund_bryant_et al._2025, title={Analysis and Experimental Validation of a Low-Complexity Enhanced Orientation-Based Controller for Tethered Energy-Harvesting Systems}, volume={4}, url={https://doi.org/10.1109/TCST.2025.3558870}, DOI={10.1109/TCST.2025.3558870}, abstractNote={In this work, a methodology for controlling the flight of an underwater energy-harvesting kite, termed enhanced orientation-based control, is presented. This control technique is shown to perform comparably to more complex, hierarchical path-following control approaches that rely upon expensive and unreliable localization sensors while performing significantly better than simple orientation-based controllers that possess a comparable degree of complexity. The periodic closed-loop stability of a kite utilizing the proposed controller is validated in a low-order simulation framework. From there, the performance of the proposed controller is benchmarked against established control techniques via a medium-fidelity simulation environment. Finally, the efficacy of the proposed controller design is demonstrated experimentally based on two testing results on a scaled prototype kite.}, journal={IEEE Transactions on Control Systems Technology}, author={Fine, Jacob B. and Newell, Peter and Govindarajan, Kavin and McGuire, Carson and Paris, Paul and Matthias, Gabriel and Maceda, Mary and Baxter, Jonathan and Granlund, Kenneth and Bryant, Matthew and et al.}, year={2025}, month={Apr} }