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arXiv · 1011.0851

Tracking control with adaption of kites

Jorn H. Baayen·Wubbo J. Ockels
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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.

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Jorn H. Baayen, Wubbo J. Ockels. 2010-11-03. Tracking control with adaption of kites. https://arxiv.org/abs/1011.0851

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