Tracking control with adaption of kites
- 1 January 2012
- journal article
- Published by Institution of Engineering and Technology (IET) in IET Control Theory & Applications
- Vol. 6 (2), 182-191
- https://doi.org/10.1049/iet-cta.2011.0037
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 tracking problem. Based on this principle a Lyapunov-based non-linear 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.Keywords
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