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Group of Marine Dynamics and Hydrodynamics > 2.1 Dynamics of Moored Floaters > Publications
Zeng, C. and Guedes Soares, C. (2025), Simulation and control of a tethered undersea kite with an onboard counter-rotating turbine, Ocean Engineering, Vol. 320, 120289
The modelling and control of a tethered undersea kite with an onboard counter-rotating turbine are discussed. A 6-DOF dynamic model is developed based on the manoeuvring equations of motion. The multi-input and multi-output integrator backstepping algorithm is employed to design the rotation control of the kite. The method utilizes the Lyapunov function to make the kite asymptotic to the desired trajectory, and an extension is made to consider a constant current. The counter-rotating turbine is featured by the torque cancellation and lower rotational speed of each rotor compared to the conventional turbine at the same tip speed ratio. These features enable the turbine upscaling without the turbine torque's disturbance and may lead to a lower cavitation effect. The kite under control is tested in a baseline simulation, which yields consecutive figures of eight trajectories, and the kite can swiftly follow the desired signal.
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