相关论文: Control of Towing Kites for Seagoing Vessels

We present the sensor setup and the basic navigation algorithm used for the flight control of the SkySails towing kite system. Starting with brief summaries on system setup and equations of motion of the tethered kite system, we…

Energy harvesting based on tethered kites benefits from exploiting higher wind speeds at higher altitudes. The setup considered in this paper is based on a pumping cycle. It generates energy by winching out at high tether forces, driving an…

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…

Skysails Power GmbH is the leading manufacturer of light and efficient power kites that harness the wind's untapped supplies at high altitudes, aiming at profoundly altering wind energy's impact in achieving the global energy transition.…

This paper presents the mathematical modeling, controller design, and flight-testing of an over-actuated Vertical Take-off and Landing (VTOL) tiltwing Unmanned Aerial Vehicle (UAV). Based on simplified aerodynamics and first-principles, a…

Take-off and landing are the most important maneuvers for an aircraft's flight. Deployment for small fixed-wing aircraft is usually made by hand but when payload increases, take-off, and landing maneuvers are then performed on a runway…

In this paper we present a model-based control approach for autonomous flight of kites for wind power generation. Predictive models are considered to compensate for delay in the kite dynamics. We apply Model Predictive Control (MPC), with…

Converting the traction power of kites into electricity can be a low cost solution for wind energy. Reliable control of both trajectory and tether reeling is crucial. The present study proposes a modelling framework describing the dynamic…

A previously published algorithm for trajectory tracking control of tethered wings, i.e. kites, is updated in light of recent experimental evidence. The algorithm is, furthermore, analyzed in the framework of delay differential equations.…

We develop a hierarchical control architecture for autonomous docking maneuvers of a dynamic positioning vessel and provide formal safety guarantees. At the upper-level, we treat the vessel's desired surge, sway, and yaw velocities as…

Airships offer unique operational advantages due to their ability to generate lift via buoyancy, enabling low-speed flight and stationary hovering. These capabilities make them ideal for missions requiring endurance and precision…

Sailing robots provide a low-cost solution to conduct the ocean missions such as marine exploration, pollution detection, and border surveillance, etc. However, compared with other propeller-driven surface vessels, sailboat suffers in…

This paper presents two novel analytical wake models for crosswind kite power systems. One is developed based on the continuity equation, and the other based on both the continuity and momentum equations. For each model, equations for the…

We consider the basic features of complex dynamical and control systems. Special attention is paid to the problems of synthesis of dynamical models of complex systems, construction of efficient control models, and to the development of…

Airborne wind energy systems are capable of extracting energy from higher wind speeds at higher altitudes. The configuration considered in this paper is based on a tethered kite flown in a pumping orbit. This pumping cycle generates energy…

Recent successes in the deployment of sails in space have reduced the risk associated with solar sailing missions. The attitude control requirements for a solar sailing mission is low with only slow attitude maneuvers needed to maintain a…

The global approach to control systems which we have been pursuing in other work favours the study of dynamics achievable through control. It employs certain globally defined geometric objects and attempts to describe them in the general…

This paper presents a controller for the transition maneuver of a tail-sitter drone. The tail-sitter model considers aerodynamic terms whereas the proposed controller considers the time-scale separation between drone attitude and position…

This paper addresses the path following control problem for scale-model fixed-wing aircraft. Kinematic guidance and dynamic control laws are developed within a single coherent framework that exploits a simple generic model of aerodynamics…

We consider the basic features of complex dynamic and control systems, including systems having hierarchical structure. Special attention is paid to the problems of design and synthesis of complex systems and control models, and to the…