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Fig. 7 | ROBOMECH Journal

Fig. 7

From: Design, assessment and evaluation of structural stabilization system for weather buoys using a moving foil

Fig. 7

Active control block diagram. The pitch stabilization control flow is shown in this figure. The control plant G consists of the whole structure of buoy together with stabilization mechanism. \(\theta\) and \(\theta _d\) are the observed and the desired pitch angle (i.e., zero degree) of the buoy, respectively. The controller C gets the pitch deviation \(\theta _e\) and sends the proper linear displacement r of the slider to the G. Wave induced external forces are input as a distubance d to the system

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