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State Estimation for Kite Power Systems with Delayed Sensor Measurements


M. Polzin, T. A. Wood, H. Hesse, R. S. Smith

IFAC World Congress, Toulouse, France, pp. 11959-11964, [OC:08814]

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 approach presented simultaneously estimates feedback variables for an autonomous 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.


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% Autogenerated BibTeX entry
@InProceedings { PolEtal:2017:IFA_5626,
    author={M. Polzin and T. A. Wood and H. Hesse and R. S. Smith},
    title={{State Estimation for Kite Power Systems with Delayed Sensor
    booktitle={IFAC World Congress},
    address={Toulouse, France},
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