State Estimation for Kite Power Systems with Delayed Sensor Measurements

Polzin, M., Wood, T. A., Hesse, H. and Smith, R. S. (2017) State Estimation for Kite Power Systems with Delayed Sensor Measurements. In: IFAC 2017 World Congress, Toulouse, France, 9-14 July 2017, pp. 11959-11964. (doi: 10.1016/j.ifacol.2017.08.1176)

Abstract

We present a novel estimation approach for airborne wind energy systems with ground-based control and energy generation. The estimator fuses measurements from an inertial measurement unit attached to a tethered wing and position measurements from a camera as well as line angle sensors in an unscented Kalman filter. We have developed a novel kinematic description for tethered wings to specifically address tether dynamics. The presented approach simultaneously estimates feedback variables for a flight controller as well as model parameters, such as a time-varying delay. We demonstrate the performance of the estimator for experimental flight data and compare it to a state-of-the-art estimator based on inertial measurements.

• Item Type: Conference Proceedings
• Status: Published
• Refereed: Yes
• Glasgow Author(s) Enlighten ID: Hesse, Dr Henrik
• Authors: Polzin, M., Wood, T. A., Hesse, H., and Smith, R. S.
• College/School: College of Science and Engineering > School of Engineering > Autonomous Systems and Connectivity
• ISSN: 2405-8963
• Published Online: 18 October 2017
• Copyright Holders: Copyright © 2017 IFAC (International Federation of Automatic Control)
• First Published: First published in IFAC-PapersOnLine 50(1):11959-11964
• Publisher Policy: Reproduced in accordance with the copyright policy of the publisher