Tracking control with adaption of kites
Optimization and Control
2011-07-18 v5 Systems and Control
Abstract
A novel tracking paradigm for flying geometric trajectories using tethered kites is presented. It is shown how the differential-geometric notion of turning angle can be used as a one-dimensional representation of the kite trajectory, and how this leads to a single-input single-output (SISO) tracking problem. Based on this principle a Lyapunov-based nonlinear adaptive controller is developed that only needs control derivatives of the kite aerodynamic model. The resulting controller is validated using simulations with a point-mass kite model.
Cite
@article{arxiv.1011.0851,
title = {Tracking control with adaption of kites},
author = {Jorn H. Baayen and Wubbo J. Ockels},
journal= {arXiv preprint arXiv:1011.0851},
year = {2011}
}
Comments
20 pages, 12 figures