Autonomous Closed-Loop Experimental Characterization and Dynamic Model Validation of a Scaled Underwater Kite
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.
Document Details
- Document Type
- Pub Defense Publication
- Publication Date
- Apr 22, 2022
- Source ID
- 10.1115/1.4054141
Entities
People
- Andre Mazzoleni
- Andrew Abney
- Ashwin Vadlamannati
- Chris Vermillion
- Dillon Herbert
- Hosam K. Fathy
- James Reed
- Kartik Naik
- Kenneth Granlund
- Mariah Mook
- Matthew Bryant
- Miguel Alvarez
- Samuel Bryant
- Sumedh Beknalkar
- Zak Leonard
Organizations
- Defense Advanced Research Projects Agency
- North Carolina State University
- United States Department of Energy
- University of Maryland