Control of an AUV with deployable energy-harvesting kite

Abstract

This paper examines the control of an autonomous underwater vehicle (AUV) with a deployable energy-harvesting kite for oceanographic observation and surveillance. The proposed design and control strategies specifically address objectives of achieving high-payload, long-endurance AUV operation through the deployment of an energy-harvesting kite while the AUV is anchored to the seabed, followed by the retraction of the kite for continued operation of the AUV. While deployed, the kite executes power-augmenting cross-current flight motions, using a hierarchical controller. When the AUV is in motion and the kite is retracted, a dynamic programming-based controller is used to select charging locations that minimize total charging time when traversing a prescribed mission path. Focusing on oceanographic observation along a Gulf Stream transect, using a hindcast model of the Gulf Stream current resource, the paper demonstrates the efficacy of the proposed control approach, as compared to several non-optimized alternatives.

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Additional Info

DOE Project Name: Device Design and Robust Periodic Motion Control of an Ocean Kite System for Marine Hydrokinetic Energy Harvesting
DOE Project Number: EE0008635
DOE Project Lead: Carrie Noonan
Last Updated: 6 months ago
Sep
2019
Data from September, 2019
Submitted Dec 4, 2020

Contact

North Carolina State University


919.515.5244

Status

Publicly accessible License 

Authors

James Reed
North Carolina State University
Joshua Daniels
North Carolina State University
Ayaz Siddiqui
North Carolina State University
Mitchell Cobb
North Carolina State University
Chris Vermillion
North Carolina State University

Keywords

MHK, Marine, Hydrokinetic, energy, power, kite, control, AUV, hindcast, Gulf Stream, CEC, current, path, long-endurance, observation, ocean, tidal kite

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