Mathematical modeling and fuzzy proportional–integral–derivative scheme to control the yaw motion of a wind turbine

Abstract In this paper, we present a mathematical model and control strategy to regulate the yaw of a horizontal axis wind turbine. In order to obtain the dynamic equations of the yaw motion, the mathematical model is developed using the Euler–Lagrange formulation and considers the wind turbine as a manipulator robot with three degrees of freedom (DOF). A fuzzy proportional‐integral‐derivative (PID) controller is proposed to manipulate the yaw angle for power regulation. In addition, we have developed a low cost experimental platform to implement the designed controller to obtain experimental results for the dynamic behavior of the closed‐loop system.